CN212259824U - Self-propelled balanced type electric tea-leaf picker - Google Patents

Abstract

A self-propelled balanced electric tea plucking machine. The self-adjusting balance assembly is arranged on the self-walking system, the tea plucker is arranged on the self-adjusting balance assembly, the two single movable vehicles are arranged in parallel, and the bottoms of the positioning frames are respectively arranged on the two single movable vehicles; the lower extreme of every lifter passes locating rack and a monomer locomotive rigid coupling, the upper end of every lifter articulates there is the hydraulic tank, the both ends of intermediate beam are articulated mutually with two hydraulic tanks respectively, the both ends of intermediate beam respectively are equipped with an arc piece, every arc piece is established in the hydraulic tank, the tip rigid coupling of every arc piece and its intermediate beam that corresponds, the lower extreme of every arc piece is the protruding end of arc towards the hydraulic tank bottom, the injection has fluid in every hydraulic tank, the both sides of intermediate beam are equipped with two connecting pipes respectively, the both ends of every connecting pipe are linked together with two hydraulic tanks respectively. The utility model is used for the tea garden.

Description

Self-propelled balanced type electric tea-leaf picker

The technical field is as follows:

the utility model relates to a tea-leaf picker, concretely relates to from electronic tea-leaf picker of walking balanced type.

Background art:

the income of people is continuously increased under the environment of rapid development of social economy, and high-quality life is pursued by most people, and tea drinking is pursued by most people. Tea drinking has become a habit of most people before and after meals, whether in restaurants or at home. The tea industry has developed rapidly in recent decades, with great variations in both plant size and mode of production. Especially, the improvement of the tea picking work, the tea picking machine is gradually replaced by the tea picking machine in the prior manual mode, and the development of the tea picking machine is advanced to a certain extent. The self-propelled agricultural machinery appearing in the market at present almost uses a gasoline engine or a diesel engine as a source of self-propelled power, and the mode has the defects of low power, high energy consumption, high pollution and high working cost. Because the technology of the electric bicycle is more mature and reliable at present, and the electric bicycles, the electric automobiles, the electric buses and other electric vehicles are more and more popularized, the development of the electric self-propelled agricultural machinery is faster and faster.

In recent decades, tea leaves are picked manually in many places in China, and although the quality of the tea leaves is guaranteed by the labor mode, the production efficiency is low. The tea leaves have the characteristic that the tea leaves are precious in the early picking day and grass in the late picking day, so that the tea leaves can be picked in time only by great labor force. The phenomenon of insufficient hands is easy to occur due to the fact that the planting area is enlarged in the tea picking area because of limited manpower. Based on this situation, some tea plucking machines have appeared on the market in the last decade, but still have many disadvantages. For example, the traditional gasoline tea plucking machine has the defects of high oil consumption, high noise, heavy pollution, inflexibility, terrain limitation on operation and the like, and can not meet the requirements of pollution-free and organic tea gardens. In order to save energy and protect environment, an electric tea plucker operated by a single person or two persons appears in the market, but the electric tea plucker is mainly operated by hands, and the mode has certain labor intensity and inconvenience for tea pluckers. And the balance degree of adopting tea is difficult to holding well to portable operation tea-leaf picker, and this can have certain damage to tealeaves, influences the quality of tealeaves, and electronic tea-leaf picker is unstable because of self equilibrium, is difficult to be applicable to the environment of adopting tea of different topography, leads to tea-leaf picking quality and tea-leaf picking efficiency to be difficult to balance and compromise.

The invention content is as follows:

in order to solve the problems mentioned in the background art, the utility model aims to provide a self-propelled balanced electric tea plucking machine.

A self-propelled balanced type electric tea plucker comprises a tea plucker, a self-adjusting balance assembly and a self-propelled system, wherein the self-adjusting balance assembly is arranged on the self-propelled system, the self-adjusting balance assembly is provided with the tea plucker, the self-propelled system comprises a steering frame, a positioning frame and two single movable vehicles, the two single movable vehicles are arranged in parallel, the steering frame is arranged between the advancing ends of the two single movable vehicles, the positioning frame is arranged behind the steering frame, and the bottoms of the positioning frame are respectively arranged on the two single movable vehicles;

the self-adjusting balance assembly comprises a middle beam, two hydraulic boxes, two connecting pipes, two arc-shaped blocks and two lifting rods, wherein the two lifting rods are vertically arranged side by side, the lower end of each lifting rod penetrates through a positioning frame and a single mobile vehicle fixed connection, the upper end of each lifting rod is hinged with a hydraulic box, the two ends of the middle beam are hinged with the two hydraulic boxes respectively, the two ends of the middle beam are provided with the arc-shaped blocks respectively, each arc-shaped block is arranged in the hydraulic box and fixedly connected with the end part of the middle beam corresponding to the arc-shaped block, the lower end of each arc-shaped block is an arc-shaped protruding end facing the bottom of the hydraulic box, oil matched with the arc-shaped blocks is injected into each hydraulic box, the two connecting pipes are arranged on the two sides of the middle beam respectively, and the two ends of each connecting pipe are communicated with the.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses rational in infrastructure feasible, can realize from the effect of balance and walking, be applicable to the tea garden environment of multiple topography form, use manpower sparingly, can enough simplify the operation degree of difficulty of adopting tea, can also improve the work efficiency of adopting tea.

Two, the utility model discloses the overall balance stability ability of structure is high, and the accommodation process of self-balancing need not manual monitoring, can be according to the real-time quick adjustment of concrete relief link.

Thirdly, the utility model discloses a from walking control process stable and durable, only need a staff with other control can, use manpower sparingly.

Four, the utility model discloses the tea-leaf picker process does not have artifical the intervention, realizes realizing unmanned operation flow of interveneeing from picking to the collection process through mutually supporting of tea-leaf picker, defeated material subassembly and collection tea basket, is suitable for batch operation, is applicable to in the picking work in extensive tea garden.

Fifthly, the utility model discloses overall structure light, drive power be clean energy, green, energy saving and emission reduction.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and accompanying drawings.

Fig. 1 is a schematic view of a first three-dimensional structure of the present invention;

fig. 2 is a schematic view of a second three-dimensional structure of the present invention;

FIG. 3 is a first perspective view of the tea plucker;

FIG. 4 is a second perspective view of the tea plucker;

FIG. 5 is a perspective view of the driving mechanism;

fig. 6 is a perspective view of the lower blade.

FIG. 7 is a schematic perspective view of the self-adjusting counterbalance assembly;

FIG. 8 is an enlarged view of the structure at A in FIG. 7;

FIG. 9 is a schematic perspective view of another self-adjusting counterbalance assembly;

fig. 10 is a schematic perspective view of the first support frame;

fig. 11 is another perspective view of the first support frame;

FIG. 12 is a perspective view of a second supporting frame;

FIG. 13 is a perspective view of a steering frame;

FIG. 14 is a perspective view of the positioning frame;

in the figure, 1-tea plucker; 1-1-top connector; 1-2-a support housing; 1-3-upper blade; 1-4-lower blade; 1-6-a drive mechanism; 1-6-1-base; 1-6-2-supply components; 1-6-3-drive gear; 1-6-4-drive gear; 1-6-5-driven gear; 1-6-6-cylinder; 1-6-7-ring groove; 2, self-adjusting balance assembly; 2-1-middle beam; 2-2-hydraulic tank; 2-3-connecting pipe; 2-4-arc block; 2-5-lifting rod; 3-a bogie frame; 3-1-beam; 3-2-column; 4-a positioning frame; 4-1-top frame; 4-2-side frame body; 4-3-cross bar; 4-4-preposition positioning sleeve; 4-5-middle positioning sleeve; 4-6-bottom positioning holes; 5-a monomer moving vehicle; 5-1-a first support frame; 5-1-1-front cover body; 5-1-2-middle box body; 5-1-3-tailstock; 5-2-a first front wheel; 5-3-a first rear drive wheel; 5-5-a second support; 5-6-second front wheel; 5-7-a second rear drive wheel; 5-8-a controller for a second drive wheel; 6-connecting hole; 7-tea inlet; 8-tea outlet; 9-a blower; 10-tea collecting basket; 11-a feeding assembly; 11-1-a first feeding pipe; 11-2-a second feeding pipe; 11-3-a discharge pipe; 11-4-hose; 12-a buffer; 13-a central controller; 14-a baffle; 15-cover plate; 16-a via hole; 17-a pallet; 18-hollowing out; 19-a connecting rod; 20-a power splitter; 21-a battery; 22-control for lifting rod.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described below with reference to specific embodiments shown in the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and/or process steps that are closely related to the solution according to the invention are shown in the drawings, while other details that are not relevant to the invention are omitted.

The first embodiment is as follows: as shown in fig. 1 to 14, the following technical solutions are adopted in the present embodiment: the tea plucking device comprises a tea plucking device 1, a self-adjusting balance assembly 2 and a self-walking system, wherein the self-adjusting balance assembly 2 is arranged on the self-walking system, the tea plucking device 1 is arranged on the self-adjusting balance assembly 2, the self-walking system comprises a steering frame 3, a positioning frame 4 and two single movable vehicles 5, the two single movable vehicles 5 are arranged in parallel, the steering frame 3 is arranged between the advancing ends of the two single movable vehicles 5, the positioning frame 4 is arranged behind the steering frame 3, and the bottoms of the positioning frame 4 are respectively arranged on the two single movable vehicles 5;

the self-adjusting balance assembly 2 comprises a middle beam 2-1, two hydraulic tanks 2-2, two connecting pipes 2-3, two arc-shaped blocks 2-4 and two lifting rods 2-5, wherein the two lifting rods 2-5 are vertically arranged in parallel, the lower end of each lifting rod 2-5 is fixedly connected with a single mobile vehicle 5 through a positioning frame 4, the upper end of each lifting rod 2-5 is hinged with one hydraulic tank 2-2, the two ends of the middle beam 2-1 are respectively hinged with the two hydraulic tanks 2-2, the two ends of the middle beam 2-1 are respectively provided with one arc-shaped block 2-4, each arc-shaped block 2-4 is arranged in the hydraulic tank 2-2, each arc-shaped block 2-4 is fixedly connected with the end part of the corresponding middle beam 2-1, the lower end of each arc-shaped block 2-4 is an arc-shaped protruding end facing the bottom of the hydraulic tank 2-2, oil liquid matched with the arc-shaped blocks 2-4 is injected into each hydraulic tank 2-2, two connecting pipes 2-3 are respectively arranged on two sides of the middle beam 2-1, and two ends of each connecting pipe 2-3 are respectively communicated with the two hydraulic tanks 2-2.

The tea plucking width of the tea plucker 1 in the embodiment is between 800mm and 860mm, the tea plucking height of the tea plucker 1 is between 1000mm and 1200mm under the action of the self-adjusting balance assembly 2, and the tea plucking height of the tea plucker 1 refers to the distance from the horizontal ground of the planted tea belt to the highest position of the arc shearing surface; the shape of shear plane is arc setting, and the distance of circular arc shear plane minimum to highest is between 60mm to 80mm, and the tea-plucking performance of tea-plucking device 1 has the commonality, is applicable to most of tea belts.

The second embodiment is as follows: the embodiment is further limited by the first embodiment, the upper end of the arc-shaped block 2-4 is an arc-shaped concave end facing the top of the hydraulic tank 2-2, that is, the longitudinal section of the arc-shaped block 2-4 is crescent-shaped.

The middle beam 2-1, the two hydraulic tanks 2-2, the two connecting pipes 2-3, the two arc blocks 2-4 and the two lifting rods 2-5 of the embodiment are mutually matched, so that the self-adjusting effect of the tea plucker 1 is achieved. In the specific use process, a sealing ring is arranged at the joint of the hydraulic tank 2-2 and the middle beam 2-1, so that the sealing effect is realized, and the leakage of the assembly part is avoided after the hydraulic tank is filled with oil. Oil liquid is filled into the hydraulic tanks, the two hydraulic tanks 2-2 are communicated through the two connecting pipes 2-3, when the filled oil liquid reaches a certain amount, the arc-shaped blocks 2-4 are acted by the hydraulic force, and the arc-shaped blocks 2-4 are always kept in a state of being parallel to the oil liquid level due to the self shapes of the arc-shaped blocks 2-4. No matter the utility model discloses a on level land road surface or slope road surface, thereby the oil liquid level in the hydraulic pressure case 2-2 remains the level throughout and ensures the parallel position of arc piece 2-4 and hydraulic pressure face, and tea-leaf picker 1 fixed mounting is on intermediate beam 2-1, and intermediate beam 2-1 is connected with the arc piece 2-4 that is in the oil in the floating state to realize on the intermediate beam 2-1 that tea-leaf picker 1 is in the stationarity under the various relief circumstances.

In the embodiment, the self-adjusting balance assembly 2 maintains the balance of tea picking through the two lifting rods 2-5, the two lifting rods 2-5 are provided with the lifting rod controller 22 in a matching way, and the matching process of the two lifting rods is the prior art. The balance degree of the tea plucker 1 is adjusted by adjusting the lifting actions of two lifting rods 2-5 arranged at the left and the right. The two lifting rods 2-5 drive the middle beam 2-1 to lift and incline left and right, and the two lifting rods 2-5 are matched with each other to drive the tea plucker 1 to lift and incline left and right because the tea plucker 1 is fixedly arranged on the middle beam 2-1. When the tea plucking height is changed, the tea plucker 1 is lifted or lowered by adjusting the lifting rod. When the tea plucking device 1 needs to incline to the left, the lifting rod 2-5 on the left side is controlled to be lower than that on the right side, when the tea plucking device 1 needs to incline to the right, the lifting rod 2-5 on the left side is controlled to be higher than that on the right side, and when the inclination needs to be adjusted, the adjustment is realized by adjusting the distance between the tops of the left lifting rod 2-5 and the right lifting rod 2-5. The lifting of the left and right lifting rods 2-5 is powered by a DC speed reducing motor, and the lifting rod controller controls the rotation speed and start and stop of the DC speed reducing motor, that is, the lifting rod controller 22 controls the lifting of the left and right lifting rods. The base, which cooperates with the lifting rods 2-5, is mounted on the self-propelled system and supports the self-adjusting counterbalance assembly 2 from the self-propelled system. The height of the tea plucking device 1 capable of plucking tea is 964-1364 mm, so the movement stroke of the left and right lifting rods 2-5 is 500mm, namely the distance from the lowest point to the highest point of the tops of the left and right lifting rods 2-5 is 500 mm.

The third concrete implementation mode: in this embodiment, as shown in fig. 11, the self-adjusting balance assembly 2 has another structure, that is, two ends of the middle beam 2-1 are respectively provided with a T-shaped connection frame 2-6, each T-shaped connection frame 2-6 is provided with a lifting rod 2-5, and the upper end of the lifting rod 2-5 is hinged with the inner walls of the two sides of the T-shaped connection frame 2-6. The self-adjusting balance assembly 2 with the structural form is suitable for the relatively gentle tea garden environment.

In this embodiment, the lifting rods 2-5 are existing products, preferably electric lifting rods, that is, electric push rods, and the electric push rods include a dc speed reduction motor, a worm, a push rod, a bearing, a housing, and a base. The electric putter is provided with a lifter controller 22 for controlling the raising and lowering operations of the electric putter.

In the embodiment, the self-adjusting balance assembly 2 maintains the balance of tea plucking through the two lifting rods 2-5, and adjusts the balance degree of the tea plucker 1 through adjusting the lifting actions of the two lifting rods 2-5 arranged on the left and right. The two lifting rods 2-5 drive the middle beam 2-1 to lift and incline left and right, and the two lifting rods 2-5 are matched with each other to drive the tea plucker 1 to lift and incline left and right because the tea plucker 1 is fixedly arranged on the middle beam 2-1. When the tea plucking height is changed, the tea plucker 1 is lifted or lowered by adjusting the lifting rod. When the tea plucking device 1 needs to incline to the left, the lifting rod 2-5 on the left side is controlled to be lower than that on the right side, when the tea plucking device 1 needs to incline to the right, the lifting rod 2-5 on the left side is controlled to be higher than that on the right side, and if the inclination is required to be adjusted, the distance between the tops of the left lifting rod 2-5 and the right lifting rod 2-5 is adjusted to realize the inclination adjustment. The lifting of the left and right lifting rods 2-5 is powered by a DC speed reducing motor, and the lifting rod controller controls the rotation speed and start and stop of the DC speed reducing motor, that is, the lifting rod controller 22 controls the lifting of the left and right lifting rods. The base, which cooperates with the lifting rods 2-5, is mounted on the self-propelled system and supports the self-adjusting counterbalance assembly 2 from the self-propelled system. The height of the tea plucking device 1 capable of plucking tea is 964-1364 mm, so the movement stroke of the left and right lifting rods 2-5 is 500mm, namely the distance from the lowest point to the highest point of the tops of the left and right lifting rods 2-5 is 500 mm.

The fourth concrete implementation mode: the embodiment is further limited by the first, second or third embodiment, the tea plucker 1 comprises a top connecting piece 1-1, a supporting shell 1-2, an upper blade 1-3, a lower blade 1-4, a supporting piece for the blades and a driving mechanism 1-6, the top connecting piece 1-1 is arranged at the top of the supporting shell 1-2, a tea inlet 7 is processed at the front end of the supporting shell 1-2, a mounting opening is processed at the bottom of the supporting shell 1-2, the upper blade 1-3 is fixedly connected in the mounting opening, the supporting piece for the blades is arranged on the supporting shell 1-2 and is positioned below the mounting opening, the lower blade 1-4 is matched on the supporting piece for the blades in a sliding manner, two tea outlets 8 are processed at the rear end of the supporting shell 1-2, the driving mechanism 1-6 is arranged at the rear end of the supporting shell 1-2, the driving mechanism 1-6 is connected with the lower blade 1-4.

Further, the driving mechanism 1-6 comprises a base 1-6-1, a power supply assembly 1-6-2, a driving gear 1-6-3, a transmission gear 1-6-4, a driven gear 1-6-5 and a cylinder 1-6-6, the base 1-6-1 is horizontally arranged at the rear end of the supporting shell 1-2, the power supply assembly 1-6-2 is arranged on the base 1-6-1, the driving gear 1-6-3 is sleeved at the output end of the power supply assembly 1-6-2, the driven gear 1-6-5 is coaxially connected with the cylinder 1-6-6, the driving gear 1-6-3 is meshed with the transmission gear 1-6-4, the transmission gear 1-6-4 is meshed with the driven gear 1-6-5, the outer circumferential wall of the cylinder 1-6-6 is provided with a circle of annular grooves 1-6-7, the annular grooves 1-6-7 are provided with connecting rods 19 in a matching way, one end of each connecting rod 19 is arranged in the annular groove 1-6-7 and is in sliding fit with the annular groove 1-6-7, and the other end of each connecting rod 19 is fixedly connected with the lower blade 1-4.

Further, the power supply assembly 1-6-2 comprises a motor and an electronic controller, the motor and the electronic controller are both existing products, the motor is a brushless direct current motor, the electronic controller controls the opening and closing of the motor and the rotating speed, and the control principle between the electronic controller and the motor is the same as that between the existing electronic controller and the motor.

Furthermore, the end of the connecting rod 19 which is matched with the annular grooves 1-6-7 is a conical end.

In the embodiment, the cylinders 1-6-6 are driven by the power supply assemblies 1-6-2, and the cylinders 1-6-6 are driven to rotate by the mutual matching of the driving gears 1-6-3, the transmission gears 1-6-4 and the driven gears 1-6-5.

The connecting rod 19 in this embodiment is a cylindrical rod body.

The tea plucker 1 in the embodiment is a reciprocating cutting type double-layer toothed blade shearing mechanism, the upper blades 1-3 and the lower blades 1-4 are both arc-shaped blades, and the bending degrees of the upper blades 1-3 and the lower blades 1-4 are matched with the bending degree of the supporting shell 1-2.

In the embodiment, the upper blade 1-3 and the lower blade 1-4 are mutually matched to form a single-acting double-layer toothed blade, the thickness of the upper blade 1-3 and the thickness of the lower blade 1-4 are 2mm, and the upper blade 1-3 and the lower blade 1-4 are arranged in a clinging manner. The upper blade 1-3 is a fixed blade and is fixedly arranged at the mounting opening at the bottom of the supporting shell 1-2 and matched with the lower blade 1-4 to cut the tea leaves. The lower blades 1-4 are moving blades, one end of the lower blades 1-4, which is positioned at the rear end of the supporting shell 1-2, is a blade tail end, a connecting rod 19 is arranged at the blade tail end of the lower blades 1-4, one end of the connecting rod 19 is embedded into the annular groove 1-6-7, and when the cylinder 1-6-6 rotates, the annular groove 1-6-7 of the cylinder 1-6-6 rotates to push the connecting rod 19 and further push the lower blades 1-4 to make linear reciprocating motion.

The lower blade 1-4 of the present embodiment is further provided with a supporting sheet for blade, and the supporting sheet for blade is fixedly installed at the bottom of the supporting housing 1-2 and is used for supporting the lower blade 1-4 in dynamic motion.

The working principle of the driving mechanism 1-6 matched with the upper blade 1-3 and the lower blade 1-4 is as follows:

the driving mechanism 1-6 is a cylindrical cam mechanism, the power supply assembly 1-6-2 is electrified, an output shaft of the motor rotates to drive the driving gear 1-6-3 to synchronously rotate, the driving gear 1-6-3 drives the driven gear 1-6-5 to synchronously rotate through the transmission gear 1-6-4, the driven gear 1-6-5 drives the cylinder 1-6-6 to synchronously rotate, the cylinder 1-6-6 rotates to drive the connecting rod 19 to move through the annular groove 1-6-7, the lower blade 1-4 is driven by the connecting rod 19 to linearly reciprocate as the connecting rod 19 and the lower blade 1-4 are integrally connected, the lower blade 1-4 in a dynamic state and the upper blade 1-3 in a static state are mutually closely matched to realize the shearing of tea leaves at the top of the tea trees, since the tea-picking process is a dynamic process of advancing, the cut tea leaves will be piled up in the supporting housing 1-2.

The fifth concrete implementation mode: the fourth specific embodiment further defines that the tea plucking device 1 is further provided with two blowers 9 in a matching way, the two blowers 9 are arranged at the tea inlet 7 of the supporting shell 1-2 in parallel, and the air outlet of each blower 9 is communicated with the inside of the supporting shell 1-2.

Tea-leaf cooperation air-blower 9 after will cuting of tea plucker 1 in this embodiment realizes directional collection, and the best number that sets up of air-blower 9 is two, and the both ends of advancing tea mouthful 7 are vertical respectively to be provided with two apron 15, and processing has a through-hole 16 on every apron, and the front end of every apron is provided with layer board 17, and two air-blowers 9 set up respectively on two layer boards 17, and the air-out end of every air-blower 9 is linked together rather than the through-hole 16 that is close to. The wind power generated by the blower 9 blows the picked tea leaves to be concentrated to the rear end of the supporting shell 1-2, so that power is provided for the concentrated storage of the tea leaves.

The blower 9 in this embodiment is an existing product composed of a motor, a shaft, a coupling, a bearing, an impeller, a shaft sleeve, a blower case and a base, and its operating principle is that a plurality of working blades generate centrifugal force under the condition of rotation, and the centrifugal force drives the surrounding air to generate wind power, so as to perform blowing work.

In the embodiment, when the motor used in cooperation with the blower 9 is electrified under the working condition of 12V direct-current voltage, the power is 3W, the rotating speed is 400r/min, and the torque of the motor shaft is 0.0716 N.m according to a related formula. Because the impeller and the motor shaft in the blower 9 are synchronous and no power is lost in the transmission process of power, the torque of the impeller is also 0.0716 N.m. The torque of a single blade is 0.0716N · m because the blades are integrated with the impeller, and 1.074N · m because the number of the blades is 15. Under the condition of unchanged power, the torque and the rotating speed are in an inverse proportional relation, namely the rotating speed is increased, the torque is reduced, the rotating speed is reduced, and the torque is increased. Because the maximum working voltage of the motor in the power supply assembly 1-6-2 matched with the tea plucking device 1 is 12V, the current of the motor is 0.25A, under the condition of 12V direct current voltage, the rotating speed of the blade is the maximum rotating speed, namely 400r/min, and the torque is the minimum torque, namely 1.074 N.m. The torque is enough to drive the surrounding air to move, and enough wind pressure can be generated to blow the cut tea leaves, so that the working requirement can be met.

The sixth specific implementation mode: the embodiment is further limited by the first, second, third, fourth or fifth embodiment, the rear end of the supporting shell 1-2 in the embodiment is a recessed end part facing the front end of the supporting shell 1-2, two tea outlets 8 are arranged on two sides of the recessed end part, namely, the end surface facing the tea inlet 7 is an arc surface with two raised ends in the middle, and the structure arranged in such a way can ensure that tea continuously entering from the tea inlet 7 is directly accumulated at the two tea outlets 8 at the rear end of the supporting shell 1-2, so that the quantity of tea at the tea outlets 8 is sufficient and stable, and the fast and efficient tea collecting process is realized.

The seventh embodiment: the present embodiment is the first, second, third and fourth embodiments, fifthly or sixthly, a material conveying assembly 11 is arranged between the first moving vehicle and the tea plucking device 1 in a matched mode, the material conveying assembly 11 comprises a first material inlet pipe 11-1, a second material inlet pipe 11-2, a material outlet pipe 11-3 and a hose 11-4, one end of the first material inlet pipe 11-1 is communicated with one tea outlet 8 of the two tea outlets 8, one end of the second material inlet pipe 11-2 is communicated with the other tea outlet 8 of the two tea outlets 8, the other end of the second material inlet pipe 11-2 is connected with the pipe wall of the first material inlet pipe 11-1, the other end of the first material inlet pipe 11-1 is communicated with one end of the hose 11-4 through the material outlet pipe 11-3, the other end of the hose 11-4 is a tea outlet end, and the tea outlet end faces the tea collecting basket 10.

In the embodiment, the picked tea leaves are blown by the wind power generated by the blower 9 to be concentrated to the rear end of the supporting shell 1-2 and enter the tea collecting basket 10 through the material conveying component 11. The blower 9 is cooperatively provided with a blower controller for controlling the turning on and the rotation speed of the blower 9.

The arrangement of the hose 11-4 in the embodiment can realize the effect of multi-angle steering, enlarge the tea collecting angle, enlarge the tea collecting operation range, and enable the hose 11-4 to be matched with other positions of the containing bag, the containing box or other types of containing structures to carry out the process of centralized containing of tea.

In this embodiment, the material transporting assembly 11 is a whole soft material transporting assembly made of woven fabric or other flexible materials, i.e. the first material inlet pipe 11-1, the second material inlet pipe 11-2, the material outlet pipe 11-3 and the hose 11-4 are all made of flexible cloth.

The specific implementation mode is eight: the present embodiment is further limited by the first, second, third, fourth, fifth, sixth or seventh embodiments, in which the upper blade 1-3 and the lower blade 1-4 are uniform arc-shaped blades, one end of the arc-shaped blade facing the turning frame 3 is a blade end, the blade end is a plurality of blade teeth, and the blade teeth are pointed teeth.

In the embodiment, the lower blade 1-4 is positioned between the upper blade 1-3 and the supporting sheet for the blade, the lower blade 1-4 is provided with a plurality of hollowed-out openings 18 along the thickness direction, the cutting strength of the upper blade 1-3 is not affected by the arrangement of the hollowed-out openings 18, and the friction resistance generated by the relative motion between the upper blade 1-3 and the lower blade 1-4 can be effectively reduced, so that the friction heat is reduced.

Further, lubricating oil is coated among the upper blades 1-3, the lower blades 1-4 and the blade supporting sheets to reduce friction and improve the movement rate of the lower blades 1-4, so that the tea plucking performance of the tea plucker 1 is ensured to be stable and durable.

The specific implementation method nine: the embodiment is further limited by the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment, the self-adjusting balance assembly 2 plays a role of supporting the tea plucker 1, and the tea plucker 1 realizes the ascending and descending actions through the two lifting rods 2-5 of the self-adjusting balance assembly 2.

Furthermore, the lifting rods 2-5 are the existing electric lifting rods, height adjustment work is carried out by the electric lifting rods, and the working height and the working gradient of the tea plucking device 1 are directly controlled to keep balance of the shearing line.

The detailed implementation mode is ten: in the ninth embodiment, the middle beam 2-1 is further limited by a plurality of connecting holes 6 which are matched with the tea plucker 1 and are formed along the length direction of the middle beam. The top connecting piece 1-1 on the tea plucking device 1 is detachably connected with a plurality of connecting holes 6.

Further, the top connecting piece 1-1 comprises a rectangular supporting frame, the rectangular supporting frame is vertically arranged at the top of the tea plucking device 1, one side, facing the front end of the tea plucking device 1, of the rectangular supporting frame is provided with a plurality of convex blocks, the convex blocks are arranged in one-to-one correspondence with the connecting holes 6, each convex block is provided with a jack along the height direction of the convex block, a clamping strip is arranged in each jack, and the aperture of each connecting hole 6 is smaller than the length of each clamping strip. The concrete assembling process is that after the convex blocks are inserted into the corresponding connecting holes 6, the clamping strips corresponding to each convex block penetrate through the convex blocks and are tightly attached to the outer wall of the middle beam 2-1, and therefore the detachable connecting process between the top connecting piece 1-1 and the middle beam 2-1 is completed.

The concrete implementation mode eleven: the present embodiment is further limited to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, or tenth embodiments, wherein the two individual traveling vehicles 5 are a first traveling vehicle and a second traveling vehicle, respectively, the first traveling vehicle includes a first support frame 5-1, a first front wheel 5-2, a first rear driving wheel 5-3, and a controller for the first driving wheel, the first front wheel 5-2 and the first rear driving wheel 5-3 are respectively arranged at the front end and the rear end of the bottom of the first support frame 5-1, the first driving wheel is fixedly arranged in the first support frame 5-1 by a controller and is connected with the first rear driving wheel 5-3, one end of the steering frame 3 penetrates through the first support frame 5-1 to be connected with the first front wheel 5-2, and the top of the rear end of the first support frame 5-1 is provided with a tea collecting basket 10;

the second moving vehicle comprises a second support frame 5-5, a second front wheel 5-6, a second rear driving wheel 5-7 and a controller for the second driving wheel, the second front wheel 5-6 and the second rear driving wheel 5-7 are respectively arranged at the front end and the rear end of the bottom of the second support frame 5-5, the controller for the second driving wheel is fixedly arranged in the second support frame 5-5 and is connected with the second rear driving wheel 5-7, and the other end of the steering frame 3 penetrates through the second support frame 5-5 to be connected with the second front wheel 5-6.

The self-propelled system in the embodiment has self-propelled and steering functions, wherein a battery 21 and a controller for a first driving wheel are fixedly arranged in a first support frame 5-1 of a first mobile vehicle, a power supply shunt 20 and a tea collecting basket 10 are arranged at the rear end of the first support frame 5-1, and the middle of the top surface of the first support frame 5-1 is connected with a positioning frame 4. The first support frame 5-1 transmits the gravity of the whole machine to the ground through the first rear driving wheel 5-3 and the first front wheel 5-2, and the first rear driving wheel 5-3 and the first front wheel 5-2 bear the gravity of the whole machine, so that the trafficability of the whole machine is ensured and the effects of buffering and shock absorption are achieved.

Furthermore, the rear end of the first support frame 5-1 and the rear end of the second support frame 5-5 are both provided with a buffer 12, specifically, the two sides of the first rear driving wheel 5-3 are respectively provided with a buffer 12, and the buffer 12 is specifically a spring, so that the shock absorption effect is achieved, the shock absorption effect is used for filtering or buffering the exciting force transmitted from the road surface, and the driving smoothness of the whole machine is ensured.

Furthermore, the first rear driving wheel 5-3 is driven by a hub motor, the hub motor is a brushless direct current motor, and the rotation speed and the start and stop of the hub motor are controlled by a controller through the first driving wheel. The hub motor supplies power to the whole machine through the battery 21, and specifically comprises two working conditions of power utilization and charging. Similarly, the arrangement structure of the second rear driving wheel 5-7 is the same as that of the first rear driving wheel 5-3 and the second rear driving wheel 5-7, and the working principle is the same.

The specific implementation mode twelve: the first support frame 5-1 further defines the first embodiment, the first support frame 5-1 includes a front cover 5-1-1, a middle box 5-1-2 and a tail bracket 5-1-3, the front cover 5-1-1 includes an upper cover and two side plates, the two side plates are fixedly connected to two sides of the upper cover, a weight-reducing square hole is processed on each side plate, a reinforcing rib is arranged in each weight-reducing square hole, and the front cover 5-1-1 is used for mounting a first front wheel 5-2, so as to protect the first front wheel 5-2. One side surface of the middle box body 5-1-2 is opened, a plurality of heat dissipation holes are processed on the other side surface and used for mounting the battery 21, the tail frame 5-1-3 is internally used for mounting the first rear driving wheel 5-3, and the top of the tail frame 5-1-3 is used for providing space for collecting tea leaves. The same is true of the structural arrangement form of the second support frame 5-5.

In the embodiment, the optimal dimensions of the first support frame 5-1 obtained through multiple tests are 1600mm in length, 280mm in width and 325mm in height. The integral structure of the first support frame 5-1 is a steel frame body, the reinforcing ribs are all hollow rod body structures, and the tail frame 5-1-3 is also provided with a power shunt 20.

The specific implementation mode is thirteen: the embodiment is further limited by the specific embodiment I, II, III, IV, V, VI, VII, VIII, IX, XI or twelve, the steering frame 3 comprises a cross beam 3-1 and two upright posts 3-2, the cross beam 3-1 is horizontally arranged, the two upright posts 3-2 are respectively vertically arranged at two ends of the cross beam 3-1, the upper end of each upright post 3-2 is fixedly connected with the cross beam 3-1, the lower end of each upright post 3-2 is connected with the corresponding single movable vehicle 5, and a central controller 13 is arranged on any upright post 3-2 of the two upright posts 3-2. Power splitter 20 is provided in conjunction with central controller 13.

In the embodiment, the two upright columns 3-2 are both provided with steering handles, the steering handle of one upright column 3-2 of the two upright columns 3-2 is provided with a central controller 13, and the steering handle of the other upright column 3-2 of the two upright columns 3-2 is used for being held by a worker.

In the embodiment, the upright column 3-2 is a cylindrical rod, a mounting hole matched with the upright column 3-2 is processed at the front end of the first support frame 5-1 or the front end of the second support frame 5-5, a bearing is sleeved on the upright column 3-2, the upright column 3-2 is connected with the mounting hole through the bearing, and the end part of the upright column 3-2 in the first support frame 5-1 is connected with a first front wheel 5-2.

Further, a buffer spring is arranged between one upright post 3-2 and the first front wheel 5-2, and another buffer spring is arranged between the other upright post 3-2 and the second front wheel 5-6. The arrangement of the buffer spring can assist the first front wheel 5-2 and the second front wheel 5-6 to filter or buffer the exciting force transmitted from the road surface, so that the whole machine can run smoothly.

The specific implementation mode is fourteen: the embodiment is a further limitation of the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth or thirteenth concrete embodiment, the positioning frame 4 is a positioning rigid frame, the positioning frame 4 comprises a top frame body 4-1 and two side frame bodies 4-2, the top frame body 4-1 is horizontally arranged, the two side frame bodies 4-2 are respectively and fixedly connected with two ends of the top frame body 4-1, a cross rod 4-3 is arranged on one side of each side frame body 4-2 facing the steering frame 3, a preposed positioning sleeve 4-4 matched with the upright post 3-2 is arranged on the cross rod 4-3, a middle positioning sleeve 4-5 matched with the lifting rod 2-5 is arranged in each side frame body 4-2, a bottom positioning hole 4-6 matched with the lifting rod 2-5 is arranged at the bottom of each side frame body 4-2, a plurality of baffles 14 are vertically arranged at the bottom of each side frame body 4-2, the baffles 14 are uniformly distributed around the positioning holes 4-6, and the lifting rod 2-5 sequentially penetrates through the middle positioning sleeve 4-5 and the bottom positioning hole 4-6 from top to bottom to be connected with the single moving vehicle 5.

Furthermore, the top frame body 4-1 and the two side frame bodies 4-2 forming the positioning frame 4 are thin, so that the whole weight of the positioning frame 4 can be reduced, and the optimal thickness value is 2 mm.

Further, the side frame 4-2 is a sheet frame. The side frame body 4-2 is a T-shaped frame body formed by a top strip and two side strips, two side strips are vertically arranged at two ends of the top strip in parallel, and an inclined stay bar is arranged between the top strip and each side strip.

Furthermore, a rectangular supporting frame is arranged at the intersection of the cross rod 4-3 and one side strip, the rectangular supporting frame comprises four first inclined ribs, and the four first inclined ribs are arranged to strengthen the connection strength of the cross rod 4-3 and the side strip on the premise of reducing the weight of the positioning frame 4 to the maximum extent.

Furthermore, two second inclined ribs are arranged at the intersection of the cross bar 4-3 and the other side bar and used for enhancing the connection strength of the cross bar 4-3 and the side bar.

The concrete implementation mode is fifteen: this embodiment is a specific implementation mode one, two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, thirteen or fourteen further inject, and two monomer locomotive 5 cooperations are provided with braking system, promote the utility model discloses emergency in the use improves safe operating performance. The brake system comprises a front disc brake type brake and a rear disc brake type brake, the front disc brake type brake and the rear disc brake type brake are arranged on the first moving vehicle and the second moving vehicle in a matched mode, the front disc brake type brake and the rear disc brake type brake are identical in structure, the rear disc brake type brake comprises a brake disc, a brake caliper, a brake friction plate, a brake caliper piston, a brake piston shell, a wheel cylinder, a brake fluid hose, an oil pipe and a brake handle, and the disc brake type brake is of a hydraulic control type structure. The working principle of the brake system is that a brake friction plate on a brake block is clamped to a brake disc through a fixed caliper, so that frictional resistance is generated for braking.

The working process of the brake system in the embodiment is as follows:

when braking, a worker pulls and presses the brake handle, the pressed oil enters the inner oil cylinder and the outer oil cylinder through the oil pipe, the piston in the oil cylinder is pushed hydraulically, the piston presses the brake friction plates of the two brake blocks to the brake disc, and friction torque is generated to stop the brake disc to achieve the purpose of braking; when the brake is not performed, a worker releases the brake handle, the brake block and the piston return to the initial position under the action of the elastic force of the spring and the elastic force of the sealing ring, and under the condition, the clearance between the brake disc and the brake friction plate is about 0.1mm on each side, the distance is enough to release the brake, and the normal rotation of the brake disc can be ensured. The structure of the disc brake type brake is the same as that of the existing disc brake type brake, and the working principle of the disc brake type brake is the same as that of the existing disc brake type brake.

In this embodiment a front disc brake is provided between the first front wheel 5-2 and the second front wheel 5-6 and a rear disc brake is provided between the first rear drive wheel 5-3 and the second rear drive wheel 5-7. The front disc brake type brake and the rear disc brake type brake are fixed caliper disc brake type brakes. The front brake brakes two front wheels simultaneously when braking, and the rear brake brakes two rear wheels simultaneously when braking. The brake handles of the front and rear brakes are mounted on the steering handle of the steering frame 3, with the front brake on top and the rear brake on the bottom, both to the left of the central control 13. All operations such as braking, steering, speed regulation, start-stop and the like are completed on the steering frame 3, so that the operation of workers is facilitated.

The specific implementation mode is sixteen: the present embodiment is further limited to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, or fifteenth embodiments, and the present invention is cooperatively provided with a control system, which includes a central controller 13, a power shunt 20, a battery 21, a controller for a first driving wheel, a controller for a second driving wheel, an electronic controller, a controller 22 for a lifter, and a controller for a blower. The battery 21 is used for supplying power to the control system, and the battery 21 is connected to the central controller 13, the first driving wheel controller, the second driving wheel controller, the electronic controller, the lifter controller 22, and the blower controller via the power splitter 20. The central controller 13 is electrically connected to the first drive wheel controller, the second drive wheel controller, the electronic controller, the lift lever controller 22, and the blower controller, respectively, and the central controller 13 issues commands for controlling the first drive wheel controller, the second drive wheel controller, the electronic controller, the lift lever controller 22, and the blower controller, thereby controlling the bogie frame 3, the positioning frame 4, the first mobile bicycle, and the second mobile bicycle. The position of the central controller 13 is convenient for workers to operate, the working content of the workers is that the workers operate on the central controller 13 to control the working conditions of tea picking, including following work of turning, braking, tea collecting, checking and observing, and the labor intensity of the workers is reduced. The working principle of the control system is the same as that of the control system in the prior art.

In the present embodiment, the control system integrates each control part into the central controller 13 by circuit design and control layout, and the central controller 13 and the brake handle are mounted on the bogie frame 3, so that the entire operation is performed on the bogie frame 3.

Seventeenth embodiment: the embodiment is further limited by the specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, thirteen, fourteen, fifteen or sixteen, the self-propelled system comprises a steering frame 3, a positioning frame 4 and two single-body moving vehicles 5, and the process of climbing steep slopes and the process of turning at wide angles are realized by the mutual cooperation of the steering frame 3, the positioning frame 4 and the two single-body moving vehicles 5 in the self-propelled system.

From walking the system and can making in this embodiment the utility model discloses it is powerful to climb, safety and stability, whole weight light, and energy saving and emission reduction, the continuation of the journey mileage that the cooperation battery model is the 72V40AH lithium cell is 110 kilometers.

The specific implementation mode is eighteen: the present embodiment is further limited to the specific embodiments one, two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, thirteen, fourteen, fifteen, sixteen or seventeen, and the functions of the self-propelled balanced electric tea plucker in the present embodiment are as follows:

firstly, automatic tea picking operation is carried out, and a speed-adjustable process of picking speed operation can be realized through mutual matching of a top connecting piece 1-1, a supporting shell 1-2, an upper blade 1-3, a lower blade 1-4, a supporting piece for the blades and a driving mechanism 1-6 in a tea picking device 1.

And secondly, performing tea collection operation, wherein the tea collection speed is controlled and adjusted by a blower 9.

And thirdly, performing balanced lifting operation, namely realizing the balanced lifting process of the tea plucker 1 through a middle beam 2-1, two hydraulic tanks 2-2, two connecting pipes 2-3, two arc-shaped blocks 2-4 and two lifting rods 2-5 of the self-adjusting balance assembly 2.

And fourthly, self-walking operation, namely, the self-walking system comprises a steering frame 3, a positioning frame 4 and two single moving vehicles 5 which are matched with each other to realize the fast and slow operation process of the walking speed of the whole machine.

And fifthly, turning operation, namely the operation process of avoiding the obstacle road surface can be realized through the cooperation of the steering frame 3 and the self-adjusting balance assembly 2.

Combine the utility model discloses an overall structure and beneficial effect explain following embodiment:

the first embodiment is as follows: the driving mechanism 1-6 matched with the tea plucker 1 in the embodiment comprises a base 1-6-1, a power supply assembly 1-6-2, a driving gear 1-6-3, a transmission gear 1-6-4, a driven gear 1-6-5 and a cylinder 1-6-6. The optimum setting parameters of the drive mechanisms 1-6 obtained by a plurality of tests are as follows:

the power supply unit 1-6-2 in this embodiment includes a motor, which is a brushless dc motor, and is a commercially available existing product. The diameter of the output shaft of the motor is 8mm, and the length of the output shaft is 22 mm. The driving gear 1-6-3 is matched with the output shaft of the motor, the outer diameter of the driving gear 1-6-3 is 50mm, the inner diameter is 42mm, the middle diameter is 46mm, the tooth thickness is 8mm, and the tooth number is 23. The transmission gear 1-6-4 is arranged between the driving gear 1-6-3 and the driven gear 1-6-5, the outer diameter of the transmission gear 1-6-4 is 45mm, the inner diameter is 37mm, the middle diameter is 41mm, the tooth thickness is 8mm, the number of teeth is 18, the diameter of a shaft on which the transmission gear is arranged is 8mm, and the length is 34 mm. The driven gears 1-6-5 have an outer diameter of 40mm, an inner diameter of 32mm, a middle diameter of 36mm, a tooth thickness of 8mm and a tooth number of 19. The cylinders 1-6-6 have a diameter of 40mm and a length of 50mm, and the axis on which they are located has a diameter of 8mm and a length of 94.06 mm. The groove width of the annular groove 1-6-7 on the cylinder 1-6-6 is 11mm, the groove depth is 6mm, the distance from the front to the back of the track of the annular groove 1-6-7 along the length direction of the cylinder 1-6-6 is 30mm, and the distance of the straight reciprocating motion of the lower blade 1-4 is also determined to be 30 mm. The diameter of the connecting piece 19 is 11mm, the height is 20mm, the connecting piece 19 is integrally connected with the lower blade 1-4, one end of the connecting piece 19 inserted into the annular groove 1-6-7 is of a chamfer structure, so that the driving mechanism 1-6 is stably connected with the lower blade 1-4 through the connecting piece 19, and the continuous and smooth linear reciprocating motion of the lower blade 1-4 is ensured.

In this embodiment, the working efficiency of the tea plucking device 1 is determined by the working efficiency of the motor, the number of teeth of the driving gear 1-6-3 is 23, the number of teeth of the transmission gear 1-6-4 is 18, the number of teeth of the driven gear 1-6-5 is 19, and the rotating speed of the motor shaft is the rotating speed of the motor shaft gear. When the motor works at 12V direct current voltage, the rotating speed of the driving gear 1-6-3 is 1150r/min, the rotating speed of the transmission gear 1-6-4 is 1470r/min through a gear transmission ratio formula, and the rotating speed of the cylindrical camshaft gear is 1390 r/min. Similarly, when the motor works at 24V direct current voltage, the rotating speed of the driving gear 1-6-3 is 2300r/min, known data is substituted into a gear transmission ratio formula to obtain the rotating speed of the transmission gear 1-6-4 as 2940r/min, and further the rotating speed of the driven gear 1-6-5 is 2780 r/min. Of course, the operation of the motor is more than the two rotation speed states, because there is a corresponding controller for the tea plucker 1 to control the motor. When the maximum working voltage of the motor is 24V and the maximum working rotating speed is 2300r/min, the maximum tea-picking speed of the tea-picking device 1 is 2783 times/min through correlation calculation. The structure and connection relationships not mentioned in this embodiment are the same as those in the first, second, third or fourth embodiment.

Example two: in this embodiment, the optimum setting parameters obtained by the upper blade 1-3 and the lower blade 1-4 through a plurality of tests are as follows:

the lower blade 1-4 is a blade with a multi-blade-tooth structure, each blade tooth is triangular, the lower blade 1-4 has 50 triangular blade teeth, when the blade is pressed into a plane state, the bottom edge of each blade tooth is 16.50mm, the distance from the bottom edge to the outer tip is 30mm, when the lower blade 1-4 is bent into an arc-shaped blade, namely the structural state when the lower blade is finally used, the distance between two ends of the lower blade 1-4 is 840mm, the distance from the lowest part to the highest part of the vertical surface of the lower blade 1-4 is 70mm, and the radius of the arc surface where the lower blade 1-4 is located is 1295 mm. The upper blades 1-3 are bent to the same extent as the lower blades 1-4. The upper blade 1-3 has 51 triangular teeth, and the distance from the front to the back of the track along the length direction of the annular groove 1-6-7 is 30mm in the first embodiment, and correspondingly, the stroke of the lower blade 1-4 in linear reciprocating motion is 30 mm. For the upper 1-3 and lower 1-4 blades shearing the tea, the following process is illustrated with the lower blade 1-4 single triangular edge and the upper blade 1-3 two adjacent triangular edges:

when the lower blade 1-4 is in the initial position of movement, the outer point of the triangular cutting edge of the lower blade 1-4 is collinear with the bottom edge of the triangular cutting edge of the upper blade 1-3 along the line, and the perpendicular line is collinear with the perpendicular bisector of two adjacent triangular cutting edges of the upper blade 1-3. When the lower blade 1-4 moves, the triangular blade edge of the lower blade 1-4 comes out, the left and right tea cutting tooth edges and the two adjacent tea cutting tooth edges of the two adjacent triangular blade edges of the upper blade 1-3 are in a crossed state and are tightly pressed together, and the tea can be cut by the tea cutting tooth edges which are mutually crossed and tightly pressed together along with the continuous movement of the lower blade 1-4. When the lower blade 1-4 moves to the maximum stroke, namely 30mm, the bottom edge of the triangular edge of the lower blade 1-4 is collinear with the outer tip of the triangular edge of the upper blade 1-3, and the triangular empty opening at the edge of the upper blade 1-3 is just filled by the triangular edge of the lower blade 1-4. After the lower blade 1-4 has finished the maximum stroke, it is retracted to the initial position at the speed of coming out, and then the circulation is continued, which is the process of shearing tea leaves by the upper blade 1-3 and the lower blade 1-4. The structure and connection relationships not mentioned in this embodiment are the same as those in the first, second, third or fourth embodiment.

Claims (10)

1. The utility model provides a self-propelled balanced type electronic tea-leaf picker which characterized in that: the automatic tea leaf picker comprises a tea leaf picker (1), a self-adjusting balance assembly (2) and a self-walking system, wherein the self-adjusting balance assembly (2) is arranged on the self-walking system, the self-adjusting balance assembly (2) is provided with the tea leaf picker (1), the self-walking system comprises a steering frame (3), a positioning frame (4) and two single movable vehicles (5), the two single movable vehicles (5) are arranged in parallel, the steering frame (3) is arranged between the advancing ends of the two single movable vehicles (5), the positioning frame (4) is arranged behind the steering frame (3), and the bottoms of the positioning frame (4) are respectively arranged on the two single movable vehicles (5);

the self-adjusting balance assembly (2) comprises a middle beam (2-1), two hydraulic boxes (2-2), two connecting pipes (2-3), two arc-shaped blocks (2-4) and two lifting rods (2-5), wherein the two lifting rods (2-5) are vertically arranged in parallel, the lower end of each lifting rod (2-5) penetrates through a positioning frame (4) and is fixedly connected with a single moving vehicle (5), the upper end of each lifting rod (2-5) is hinged with one hydraulic box (2-2), the two ends of the middle beam (2-1) are respectively hinged with the two hydraulic boxes (2-2), the two ends of the middle beam (2-1) are respectively provided with one arc-shaped block (2-4), each arc-shaped block (2-4) is arranged in the hydraulic boxes (2-2), each arc-shaped block (2-4) is fixedly connected with the end part of the corresponding middle beam (2-1), the lower end of each arc-shaped block (2-4) is an arc-shaped protruding end facing the bottom of the hydraulic box (2-2), oil liquid matched with the arc-shaped blocks (2-4) is injected into each hydraulic box (2-2), two connecting pipes (2-3) are respectively arranged on two sides of the middle beam (2-1), and two ends of each connecting pipe (2-3) are respectively communicated with the two hydraulic boxes (2-2).

2. The self-propelled balanced electric tea plucker according to claim 1, characterized in that: the tea plucker (1) comprises a top connecting piece (1-1), a supporting shell (1-2), an upper blade (1-3), a lower blade (1-4), a supporting sheet for the blade and a driving mechanism (1-6), wherein the top of the supporting shell (1-2) is provided with the top connecting piece (1-1), the front end of the supporting shell (1-2) is provided with a tea inlet (7), the bottom of the supporting shell (1-2) is provided with a mounting hole, the upper blade (1-3) is fixedly connected in the mounting hole, the supporting sheet for the blade is arranged on the supporting shell (1-2) and is positioned below the mounting hole, the lower blade (1-4) is matched on the supporting sheet for the blade in a sliding manner, the rear end of the supporting shell (1-2) is provided with two tea outlets (8), the driving mechanism (1-6) is arranged at the rear end of the supporting shell (1-2), the driving mechanism (1-6) is connected with the lower blade (1-4).

3. The self-propelled balanced electric tea plucker according to claim 2, wherein: the two single moving vehicles (5) are respectively a first moving vehicle and a second moving vehicle, the first moving vehicle comprises a first support frame (5-1), a first front wheel (5-2), a first rear driving wheel (5-3) and a controller for the first driving wheel, the first front wheel (5-2) and the first rear driving wheel (5-3) are respectively arranged at the front end and the rear end of the bottom of the first support frame (5-1), the first driving wheel is fixedly arranged in the first support frame (5-1) and connected with the first rear driving wheel (5-3) through the controller, one end of the steering frame (3) penetrates through the first support frame (5-1) to be connected with the first front wheel (5-2), and the top of the rear end of the steering frame (3) is provided with a tea collecting basket (10);

the second moving vehicle comprises a second support frame (5-5), a second front wheel (5-6), a second rear driving wheel (5-7) and a controller for the second driving wheel, the second front wheel (5-6) and the second rear driving wheel (5-7) are respectively arranged at the front end and the rear end of the bottom of the second support frame (5-5), the controller for the second driving wheel is fixedly installed in the second support frame (5-5) and is connected with the second rear driving wheel (5-7), and the other end of the steering frame (3) penetrates through the second support frame (5-5) to be connected with the second front wheel (5-6).

4. The self-propelled balanced electric tea plucker according to claim 3, wherein: a material conveying assembly (11) is arranged between the first moving vehicle and the tea plucking device (1) in a matching way, the material conveying assembly (11) comprises a first material inlet pipe (11-1), a second material inlet pipe (11-2), a material outlet pipe (11-3) and a hose (11-4), one end of the first material inlet pipe (11-1) is communicated with one tea outlet (8) of the two tea outlets (8), one end of the second material inlet pipe (11-2) is communicated with the other tea outlet (8) of the two tea outlets (8), the other end of the second material inlet pipe (11-2) is connected with the pipe wall of the first material inlet pipe (11-1), the other end of the first material inlet pipe (11-1) is communicated with one end of the hose (11-4) through the material outlet pipe (11-3), and the other end of the hose (11-4) is a tea outlet, the tea outlet end is arranged towards the tea collecting basket (10).

5. The self-propelled balanced electric tea plucker according to claim 1, characterized in that: the middle beam (2-1) is provided with a plurality of connecting holes (6) matched with the tea plucker (1) along the length direction.

6. The self-propelled balanced electric tea plucker as claimed in claim 1, 2, 3, 4 or 5, wherein: the tea plucking device (1) is also provided with two blowers (9) in a matching way, the two blowers (9) are arranged at the tea inlet (7) of the supporting shell (1-2) in parallel, and the air outlet of each blower (9) is communicated with the inside of the supporting shell (1-2).

7. The self-propelled balanced electric tea plucker according to claim 2, wherein: the upper blade (1-3) and the lower blade (1-4) are uniform arc-shaped blades, one end of each arc-shaped blade, which faces the steering frame (3), is a blade end, the blade end is provided with a plurality of blade teeth, and the blade teeth are sharp-pointed teeth.

8. The self-propelled balanced electric tea plucker according to claim 2, wherein: the driving mechanism (1-6) comprises a base (1-6-1), a power supply assembly (1-6-2), a driving gear (1-6-3), a transmission gear (1-6-4), a driven gear (1-6-5) and a cylinder (1-6-6), the base (1-6-1) is horizontally arranged at the rear end of the supporting shell (1-2), the power supply assembly (1-6-2) is arranged on the base (1-6-1), the driving gear (1-6-3) is sleeved at the output end of the power supply assembly (1-6-2), the driven gear (1-6-5) is coaxially connected with the cylinder (1-6-6), the driving gear (1-6-3) is meshed with the transmission gear (1-6-4), the transmission gear (1-6-4) is meshed with the driven gear (1-6-5), a circle of annular groove (1-6-7) is processed on the outer circumferential wall of the cylinder (1-6-6), the annular groove (1-6-7) is provided with a connecting rod in a matching mode, one end of the connecting rod is arranged in the annular groove (1-6-7) and is in sliding fit with the annular groove (1-6-7), and the other end of the connecting rod is connected with the lower blade (1-4).

9. The self-propelled balanced electric tea plucker according to claim 1, characterized in that: the steering frame (3) comprises a cross beam (3-1) and two upright columns (3-2), the cross beam (3-1) is horizontally arranged, the two upright columns (3-2) are respectively vertically arranged at two ends of the cross beam (3-1), the upper end of each upright column (3-2) is fixedly connected with the cross beam (3-1), the lower end of each upright column (3-2) is connected with a corresponding single movable vehicle (5), and a central controller (13) is arranged on any one upright column (3-2) of the two upright columns (3-2).

10. The self-propelled balanced electric tea plucker according to claim 1 or 9, wherein: the positioning frame (4) is a positioning rigid frame, the positioning frame (4) comprises a top frame body (4-1) and two side frame bodies (4-2), the top frame body (4-1) is horizontally arranged, the two side frame bodies (4-2) are respectively and fixedly connected with the two ends of the top frame body (4-1), a cross rod (4-3) is arranged on one side, facing the steering frame (3), of each side frame body (4-2), a front positioning sleeve (4-4) matched with the upright post (3-2) is arranged on the cross rod (4-3), a middle positioning sleeve (4-5) matched with the lifting rod (2-5) is arranged in each side frame body (4-2), a bottom positioning hole (4-6) matched with the lifting rod (2-5) is arranged at the bottom of each side frame body (4-2), a plurality of baffle plates (14) are vertically arranged at the bottom of each side frame body (4-2), the plurality of baffles (14) are uniformly distributed around the positioning holes (4-6), and the lifting rods (2-5) sequentially penetrate through the middle positioning sleeves (4-5) and the bottom positioning holes (4-6) from top to bottom to be connected with the single moving vehicle (5).

Images