CN104303706B - A kind of intelligence tea picking machine - Google Patents
A kind of intelligence tea picking machine Download PDFInfo
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- CN104303706B CN104303706B CN201410526690.4A CN201410526690A CN104303706B CN 104303706 B CN104303706 B CN 104303706B CN 201410526690 A CN201410526690 A CN 201410526690A CN 104303706 B CN104303706 B CN 104303706B
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Abstract
The present invention relates to a kind of intelligence tea picking machine, belong to agricultural machinery technological field.A kind of intelligence tea picking machine, including frame, Tea collecting device and dark brownish green collection device, lowering or hoisting gear and arrangement for adjusting height；Lowering or hoisting gear is arranged on frame and away from direction of advance one end and can lift inside frame, and Tea collecting device is fixedly mounted on lowering or hoisting gear；Arrangement for adjusting height includes height sensor, controller and actuating motor, the signal output part of described ultrasonic sensor is connected with the signal input part of controller respectively, the controlled end of described actuating motor is connected with the signal output part of controller, and described actuating motor is used for driving crane to lift.Owing to this intelligence tea picking machine has And Development of Tea Shoot level identification function, and energy Automatic adjusument sickle height, improve the harvesting quality of tea picking machine.
Description
Technical field
The present invention relates to a kind of intelligence tea picking machine, belong to agricultural machinery technological field.
Background technology
Current domestic widely used tea picking machine is reciprocating cutting formula tea picking machine, generally exist plucking height can not the problem of timely adjustment, pluck difficult quality guarantee.Lifting formula tea picking machine for single portable and double hands, plucking height is regulated by tractor driver, owing to tractor driver bears a heavy burden operation, can not accomplish to regulate in real time along with the growing way of Camellia sinensis after working long hours；And for the crawler belt riding type tea picking machine being recently developed, the height of its sickle can regulate, but there is no Camellia sinensis height detection function, it is impossible to regulate in real time, before operation, first set an average height, pluck quality and cannot ensure yet.
Summary of the invention
The technical problem to be solved in the present invention is, picks tea-leaves ropy problem for the height tea picking machine that causes of inaccuracy of picking tea-leaves of tea picking machine in prior art, proposes one and can identify And Development of Tea Shoot height, and the self-walking intelligent tea picking machine of Automatic adjusument sickle height.
The present invention solves that the technical scheme that above-mentioned technical problem proposes is: a kind of intelligence tea picking machine, including in use can be across the fluffy portal frame of tea, described frame arranges existing Tea collecting device and dark brownish green collection device, being additionally provided with arrangement for adjusting height and lowering or hoisting gear in described frame, described lowering or hoisting gear is positioned at the frame rear portion along tea picking machine direction of advance；Described arrangement for adjusting height includes height sensor, controller and actuating motor, described height sensor and controller are arranged on frame along top, tea picking machine direction of advance one end, the signal output part of described height sensor signal input part with described controller respectively is connected, and the controlled end of described actuating motor is connected with the signal output part of described controller；Described lowering or hoisting gear includes crane and is arranged at lead and the leading screw of described frame both sides, and described crane is respectively equipped with the guide pin bushing and feed screw nut matched with described lead and leading screw；Described Tea collecting device is fixedly mounted on described crane, and the clutch end of described actuating motor couples described leading screw and is used for driving described leading screw, and described dark brownish green collection device is arranged near described Tea collecting device for collecting the Folium Camelliae sinensis under Tea collecting device is plucked.
Further: described frame includes two longerons be arrangeding in parallel, first shape frame, second shape frame and the 3rd shape frame it is interval with successively along tea picking machine direction of advance between described two longerons, described first shape frame is arranged near tea picking machine direction of advance, described first shape frame and second shape frame upper end are connected by connecting rod respectively, are provided with support bar between described connecting rod.
Further: described dark brownish green collection device includes blower fan, fan driving motor, air-supply casing and collection leaf mesh bag, described blower fan is fixed on upper rack, described fan driving motor is arranged near blower fan, described air-supply casing and collection leaf mesh bag are sequentially arranged on crane, the air outlet of described blower fan and the air intake vent of described air-supply casing are connected by flexible plastics air supply duct, described air-supply lower box is evenly equipped with arc-like rows airduct, and the wind of each arc-like rows airduct output is suitable to the Folium Camelliae sinensis that described Tea collecting device is plucked is blown into described collection leaf mesh bag.
Further: at least two to be installed bottom described frame and travels wheel.
Further: described Tea collecting device is flat pattern reciprocating cutterbar.
Further: described frame is made up of square steel welding.
Further: described frame both sides are additionally provided with accumulator, described accumulator is that controller, Tea collecting device, fan driving motor and actuating motor are powered.
The present invention uses technique scheme to provide the benefit that: 1) owing to this intelligence tea picking machine has And Development of Tea Shoot level identification function, and energy Automatic adjusument sickle height, improve the harvesting quality of tea picking machine；2) lifting of feed screw nut principle is used due to crane so that pick tea-leaves the most accurate；3) having square steel welding to make due to frame, quality small intensity is high；4) coordinate with lead due to crane so that during crane lifting, position is more accurate, and lateral displacement will not occur.
Accompanying drawing explanation
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the front view of embodiment of the present invention intelligence tea picking machine.
Fig. 2 is the left view of embodiment of the present invention intelligence tea picking machine.
Fig. 3 is the top view of embodiment of the present invention intelligence tea picking machine.
Fig. 4 is the frame perspective view of embodiment of the present invention intelligence tea picking machine.
Detailed description of the invention
Embodiment
The intelligent tea picking machine of the present embodiment, as shown in Figure 1,2 and 3, including in use can the frame 1 of door shape, Tea collecting device 2-1, dark brownish green collection device, lowering or hoisting gear and the arrangement for adjusting height in fluffy across tea (the fluffy face of Camellia sinensis single in tea fluffy finger tea plantation).Frame 1 is as shown in Figure 4, including two parallel longeron 1-8,1-9, first shape frame 1-2, second shape frame 1-3 and the 3rd shape frame 1-4 it is interval with successively along tea picking machine direction of advance between two longerons 1-8,1-9, first shape frame 1-2 is arranged near tea picking machine direction of advance, first shape frame 1-2 and second shape frame 1-3 upper end are connected by connecting rod 1-5,1-6 respectively, are provided with support bar 1-7 between connecting rod 1-5,1-6.Frame 1 entirety is welded by square steel, and first shape frame 1-2 and the 3rd shape frame 1-4 lower end are provided with four and travel wheel 1-1.
nullArrangement for adjusting height includes six height sensor 5-1、Controller 5-2 and actuating motor 5-3，Height sensor 5-1 is ultrasonic sensor，Six height sensor 5-1 are uniform to be arranged on first shape frame 1-2 and support bar 1-7，Controller 5-2 is erected between first shape frame 1-2 and support bar 1-7，Second shape frame 1-3 is provided with leading screw 5-4 on the right side of direction of advance，Second shape frame 1-3 is provided with a first lead 5-6 on the left of direction of advance，Two the second lead 5-7 it are respectively provided on two sides with in 3rd shape frame 1-4、5-8，Actuating motor 5-3 is arranged near leading screw 5-4，The clutch end of actuating motor 5-3 connects leading screw 5-4 and is used for driving leading screw 5-4，The signal output part of height sensor 5-1 signal input part with controller 5-2 respectively is connected，The controlled end of actuating motor 5-3 is connected with the signal output part of controller 5-2.Obviously, in the present embodiment, the position of three leads 5-6,5-7,5-8 and a leading screw 5-4 can also the most arbitrarily change.
As shown in Figure 1, lowering or hoisting gear includes it being crane 4, three leads 5-6,5-7,5-8 and the leading screw 5-4 of a tetragon, crane 4 is provided with the guide pin bushing (not marking in figure) mated respectively with lead 5-6,5-7,5-8, crane 4 is additionally provided with the feed screw nut 5-5 matched with leading screw 5-4, leading screw 5-4 can drive crane 4 raising and lowering, Tea collecting device 2-1 is fixedly mounted on crane 4 near tea picking machine direction of advance one end, and dark brownish green collection device is provided for collecting the Folium Camelliae sinensis under Tea collecting device 2-1 plucks near Tea collecting device 2-1.Tea collecting device 2-1 is flat pattern reciprocating cutterbar, and this flat pattern reciprocating cutterbar is driven by plucking motor 2-2.
Dark brownish green collection device includes blower fan group 3-1, one fan driving motor 3-2, air-supply casing 3-4 and collection leaf mesh bag 3-5, blower fan group 3-1 includes two blower fans, two blower fans are fixed on second shape frame 1-3 top, fan driving motor 3-2 is arranged between two blower fans, air-supply casing 3-4 and collection leaf mesh bag 3-5 is sequentially arranged on crane 4, the air intake vent of the air outlet of blower fan group 3-1 and air-supply casing 3-4 is connected by flexible plastics air supply duct 3-3, air-supply casing 3-4 bottom has been provided with arc-like rows airduct group 3-6, arc-like rows airduct group 3-6 includes 18 arc-like rows airducts, and the Folium Camelliae sinensis that the wind of each arc-like rows airduct output is suitable to be plucked by Tea collecting device is blown in collection leaf mesh bag 3-5.
Frame 1 both sides are additionally provided with accumulator battery, accumulator battery includes pick tea-leaves unit accumulator 6-1 and control unit accumulator 6-2, unit accumulator 6-1 of picking tea-leaves is for powering for Tea collecting device 2-1, fan driving motor 3-2, and control unit accumulator 6-2 is controller 5-2 and actuating motor 5-3 powers.
The method of picking tea-leaves using this intelligence tea picking machine includes:
A, the absolute value presetting the maximum difference that height and the Tea collecting device 2-1 height after the fluffy height of tea deducts cutting Len req h is allowed are Δ；
B, intelligence tea picking machine is fluffy across tea, start flat pattern reciprocating cutterbar, blower fan group 3-1 and arrangement for adjusting height, hand push machine advances；
C, each ultrasonic sensor obtain the fluffy height position information of the tea immediately below it respectively, remove peak and take its meansigma methods, as the fluffy height of current tea after minimum；
D, fluffy for surveyed tea height is deducted cutting Len req h after, compare with current flat pattern reciprocating cutterbar height；
E, after the fluffy height of surveyed tea deducts cutting Len req h, during with the absolute value of current flat pattern reciprocating cutterbar difference in height more than preset value Δ, controller works, and with difference as control signal, regulates sickle height；
F, after the fluffy height of surveyed tea deducts cutting Len req h, during with the absolute value of current flat pattern reciprocating cutterbar difference in height less than Δ, then controller does not works, and sickle height is constant.
When prescription of picking tea-leaves is higher, when plucking the Folium Camelliae sinensis adopted for " bud one leaf ", Δ takes 3mm, h and takes 15mm.
When prescription of picking tea-leaves is relatively low, when plucking the Folium Camelliae sinensis adopted for " bud two leaf ", Δ takes 5mm, h and takes 30mm.
The present invention is not limited to above-described embodiment.The technical scheme that all employing equivalents are formed, all falls within the protection domain of application claims.
Claims (6)
1. an intelligent tea picking machine, including in use can be across the fluffy portal frame of tea, described frame is provided with Tea collecting device and dark brownish green collection device, it is characterized in that: be additionally provided with arrangement for adjusting height and lowering or hoisting gear in described frame, described lowering or hoisting gear is positioned at the frame rear portion along tea picking machine direction of advance；Described arrangement for adjusting height includes height sensor, controller and actuating motor, described height sensor and controller are arranged on frame along top, tea picking machine direction of advance one end, the signal output part of described height sensor signal input part with described controller respectively is connected, and the controlled end of described actuating motor is connected with the signal output part of described controller；Described lowering or hoisting gear includes crane and is arranged at lead and the leading screw of described frame both sides, and described crane is respectively equipped with the guide pin bushing and feed screw nut matched with described lead and leading screw；Described Tea collecting device is fixedly mounted on described crane, and the clutch end of described actuating motor couples described leading screw and is used for driving described leading screw, and described dark brownish green collection device is arranged near described Tea collecting device for collecting the Folium Camelliae sinensis under Tea collecting device is plucked；Described frame includes two longerons be arrangeding in parallel, first shape frame, second shape frame and the 3rd shape frame it is interval with successively along tea picking machine direction of advance between described two longerons, described first shape frame is arranged near tea picking machine direction of advance, described first shape frame and second shape frame upper end are connected by connecting rod respectively, are provided with support bar between described connecting rod；Described height sensor has six, uniform is arranged on first shape frame and support bar；Six height sensors obtain the fluffy height position information of the tea immediately below it respectively, remove peak and take its meansigma methods foundation as controller regulation sickle height after minimum.
Intelligence tea picking machine the most according to claim 1, it is characterized in that: described dark brownish green collection device includes blower fan, fan driving motor, air-supply casing and collection leaf mesh bag, described blower fan is fixed on upper rack, described fan driving motor is arranged near blower fan, described air-supply casing and collection leaf mesh bag are sequentially arranged on crane, the air outlet of described blower fan and the air intake vent of described air-supply casing are connected by flexible plastics air supply duct, described air-supply lower box is evenly equipped with arc-like rows airduct, and the wind of each arc-like rows airduct output is suitable to the Folium Camelliae sinensis that described Tea collecting device is plucked is blown into described collection leaf mesh bag.
Intelligence tea picking machine the most according to claim 2, it is characterised in that: at least two is installed bottom described frame and travels wheel.
Intelligence tea picking machine the most according to claim 3, it is characterised in that: described Tea collecting device is flat pattern reciprocating cutterbar.
Intelligence tea picking machine the most according to claim 4, it is characterised in that: described frame is made up of square steel welding.
Intelligence tea picking machine the most according to claim 5, it is characterised in that: described frame both sides are additionally provided with accumulator, and described accumulator is that controller, Tea collecting device, fan driving motor and actuating motor are powered.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410526690.4A CN104303706B (en) | 2014-10-08 | 2014-10-08 | A kind of intelligence tea picking machine |
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| CN201410526690.4A CN104303706B (en) | 2014-10-08 | 2014-10-08 | A kind of intelligence tea picking machine |
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| CN104303706A CN104303706A (en) | 2015-01-28 |
| CN104303706B true CN104303706B (en) | 2016-09-14 |
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| CN105359714B (en) * | 2015-12-01 | 2019-01-18 | 农业部南京农业机械化研究所 | A kind of walking self-propelled duplicate rows tea picking machine |
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| CN107771524A (en) * | 2016-08-26 | 2018-03-09 | 漳州速锐智能科技有限公司 | The automatic picking machine of tealeaves and its picking method |
| CN106612943B (en) * | 2016-12-26 | 2023-05-05 | 华南农业大学 | Handheld intelligent tea-leaf picker based on belt cutting and through-flow collection |
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| CN109769469A (en) * | 2017-11-13 | 2019-05-21 | 思南县集春农业生态科技发展有限公司 | A kind of dark brownish green picking method of hoisting type |
| CN108639683A (en) * | 2018-03-30 | 2018-10-12 | 华南农业大学 | A kind of liftable double track tea picking transporter |
| CN108534693B (en) * | 2018-06-28 | 2023-10-27 | 四川农业大学 | Tea gathering depth and height measuring device |
| CN109220197A (en) * | 2018-09-20 | 2019-01-18 | 安徽农业大学 | A kind of intelligence tea picking machine |
| CN109220202B (en) * | 2018-11-30 | 2024-03-12 | 中国农业科学院茶叶研究所 | Famous tea picking machine and picking method thereof |
| CN109197143B (en) * | 2018-11-30 | 2024-05-14 | 中国农业科学院茶叶研究所 | Intelligent double-arm tea picking machine for famous tea |
| CN110402682A (en) * | 2019-08-09 | 2019-11-05 | 上海电机学院 | A kind of automatic tea picker |
| CN111837632B (en) * | 2020-07-29 | 2021-08-13 | 吴斌帆 | Simple tea leaf picking equipment |
| CN113039936B (en) * | 2021-03-16 | 2022-03-22 | 浙江理工大学 | Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof |
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