Two-way tobacco leaf picking mechanism and working method thereof

Abstract

The present application relates to a kind of tobacco bidirectional picking mechanism and its working method, wherein tobacco bidirectional picking mechanism includes support base plate, outer slide plate and inner slide plate slidingly installed on support base plate, the first end of the inner slide plate is driven sliding by screw nut mechanism driven by servo motor, sliding rod is installed between the second end of the outer slide plate and the second end of the inner slide plate, the present application can be according to the maturation law of tobacco, in different growth stages of tobacco, from bottom, by lifting drive mechanism, picking mechanism and collection mechanism are fixed at different starting picking height, realize stratified picking;By controlling the movement stroke of semicircular ring knife from bottom to top, realize quantitative picking of tobacco based on stratification;Since semicircular ring knife always maintains the embrace state to tobacco plant during picking process, the picked tobacco can basically retain leaf ear of leaf base, guarantee picking quality, realize stratified quantitative picking function of tobacco picking machine as a whole.

Description

TECHNICAL FIELD

[0001] The present application relates to a tobacco bidirectional picking mechanism, particularly applied to the picking mechanism of fresh tobacco in the fresh tobacco planting field and the working method thereof. BACKGROUND

[0002] Fresh tobacco is the raw material for making cigarettes. In the past, the fresh tobacco on the tobacco plant was picked by hand, and the number of effective leaves on each tobacco plant was 16-18. According to the leaf maturity rule and the quality of the tobacco (the quality of the tobacco after production is greatly affected by the unripe tobacco), the tobacco needs to be picked 5-6 times in different time periods, that is, 2-3 leaves are picked each time. Generally, the picking is done from the bottom to the top, which also causes a huge amount of manual work.

[0003] At present, the Chinese patent "Tobacco bidirectional picking mechanism" with publication number CN103636355B is retrieved, which includes a mounting frame fixed on a support seat, a chain wheel transmission combination mounted on the mounting frame, a driving device driving the chain wheel transmission combination, a transmission chain connecting the driving device and the chain wheel transmission combination, a pin shaft transmission combination fixedly connected with the chain wheel transmission combination, a fixed frame connected with the pin shaft transmission combination, and a picking knife mounted on the fixed frame. Although this patent can simulate the manual picking method, reduce the damage degree of tobacco, and greatly improve the tobacco picking efficiency, all the fresh tobacco on the whole tobacco plant is picked at one time during picking, so that some unripe tobacco is picked, which cannot guarantee the quality of the tobacco.

[0004] The Chinese patent "Harvesting device for tobacco with stems" with publication number CN218184083U is also retrieved at present, which includes an electric cart, a supporting plate is arranged on the electric cart, a vertical reduction motor is installed at the bottom of the supporting plate, the rotating shaft of the reduction motor penetrates through the supporting plate and is fixedly connected with a cam at the upper end, a scissors assembly is installed on the supporting plate, the scissors assembly includes a base and two symmetrically arranged blade bodies, the blade bodies extend out of the supporting plate, a bracket is arranged on the base, a push-pull rod penetrating through the bracket is slidingly connected, two connecting rods are hingedly connected at the both sides of the inner end of the push-pull rod, the other ends of the connecting rods are hingedly connected with the tail parts of the blade bodies, a spring is connected between the outer end of the push-pull rod and the bracket, the cam drives the push-pull rod to reciprocatingly extend and retract when rotating, the reciprocating extension and retraction of the push-pull rod drives the two blade bodies to open and close to realize shearing. Although this patent is convenient to operate, greatly improves the efficiency of harvesting tobacco with stems, and meets the harvesting demand of a large area, it harvests the whole tobacco plant and all the tobacco leaves thereon, so that some unripe tobacco is picked, which cannot guarantee the quality of the tobacco, and subsequent separation treatment of the tobacco and the tobacco plant is needed, which increases the production process.

[0005] In addition, the picking equipment in the past only moves in one direction for picking, and cannot pick in the reverse direction without turning around. SUMMARY

[0006] In view of the above-mentioned problems, the purpose of the present application is to provide a tobacco bidirectional picking mechanism, which is rationally designed and is conducive to realizing layered picking of tobacco.

[0007] The present application realizes the above-mentioned purposes by adopting the following scheme,

[0008] The tobacco bidirectional picking mechanism is characterized in that it comprises a support bottom plate, an outer slide plate and an inner slide plate which are slidably installed on the support bottom plate, the first end of the inner slide plate is driven to slide by a screw nut mechanism driven by a servo motor, a slide rod is installed between the second end of the outer slide plate and the second end of the inner slide plate, the first end of the slide rod is slidably sleeved on a slide rod seat at the second end of the inner slide plate, the second end of the slide rod is fixedly installed on a slide rod fixed seat at the second end of the outer slide plate, a slide rod spring on the side close to the slide rod seat and a movable hinge seat on the side close to the fixed seat are sleeved on the slide rod, a support seat is further arranged on the second end of the inner slide plate and is spaced apart from the slide rod fixed seat, the movable hinge seat is slidably arranged on the slide rod between the support seat and the slide rod fixed seat, the slide rod spring is abutted between the support seat and the slide rod seat at both ends, a fixed hinge seat is further installed on the second end of the inner slide plate, the movable hinge seat and the fixed hinge seat are respectively connected to the lower part of a scissor mechanism, when the movable hinge seat and the fixed hinge seat are relatively close to each other, the scissor mechanism is raised, a semicircular ring-shaped knife is installed on the upper part of the scissor mechanism, the semicircular ring-shaped knives of two groups of oppositely arranged picking mechanisms are relatively close to each other to form a circular ring-shaped knife, which is used to cut fresh tobacco leaves on the tobacco plant when the scissor mechanism is raised.

[0009] The working method of the tobacco bidirectional picking mechanism is characterized in that, in the initial state, the left and right picking mechanisms are symmetrically arranged on both sides of the center line of the tobacco picking device, so that the semicircular ring-shaped knives on the left and right sides are kept larger than the diameter of the tobacco plant to be picked, thereby ensuring that the tobacco plant to be picked can smoothly enter the semicircular ring-shaped knife holding area; when working, the tobacco picking device is arranged on the field ridge, the wheels at the bottom of the tobacco picking device on both sides travel on the field ridge passage, and during the travel,

[0010] When the transverse position sensor senses that the tobacco plant deviates from the center line of symmetry of the two half circular ring knives of the picking mechanism, the left and right picking mechanisms move in the same direction toward the direction in which the tobacco plant deviates under the drive of the servo motor, the interval between the left and right half circular ring knife seats is kept unchanged during the movement, until the two half circular ring knife seats are transversely aligned with the tobacco plant; when the tobacco plant as a whole enters the area surrounded by the two half circular ring knives and triggers the fan-shaped lever trigger switch, the tobacco leaf picking device stops running, and the left and right picking mechanisms move toward each other rapidly under the drive of the servo motor, so that the two half circular ring knives close and complete the embrace of the tobacco plant; when the outer edges of the contact blocks of the left and right outer sliding plates abut against each other, the two outer sliding plates stop moving, and the inner sliding plate continues to move, so that the transverse interval between the inner and outer sliding plates decreases, thereby driving the scissors mechanism to rise, and thus driving the half circular ring knives to rise, and the fresh tobacco leaves are picked by the embrace and cutting of the two half circular ring knives; when the scissors mechanism rises to the set highest point, the left and right servo motors move in the opposite direction, the scissors mechanisms on the left and right sides start to descend under the drive of the servo motor and finally separate in the opposite direction, and return to the state when the scissors mechanisms on the left and right sides just started to move toward each other and close, and at the same time, the tobacco leaf picking device as a whole starts to run forward again, and the picking of the tobacco leaves of the next tobacco plant starts.

[0011] The present application can realize layered picking by fixing the picking mechanism and the collecting mechanism at different starting picking heights from the bottom through the lifting drive mechanism according to the ripening law of tobacco leaves in different growth stages; the present application can realize quantitative picking on the basis of layering by controlling the movement stroke of the half circular ring knives from bottom to top; the present application can ensure the picking quality by keeping the half circular ring knives in the embracing state of the tobacco plant during picking, so that the picked tobacco leaves can basically retain the leaf ears at the blade roots, and the layered and quantitative picking function of the tobacco leaf picking machine is realized as a whole; in addition, it is difficult for the equipment to turn around in the tobacco planting field, and the present application can realize reverse picking without turning around by adopting the half circular ring knife embrace cutting mode, which greatly facilitates the operation and use. BRIEF DESCRIPTION OF DRAWINGS

[0012] The present application will be further described below with reference to the drawings;

[0013] Figure 1 is a schematic diagram of the three-dimensional structure of the fresh tobacco leaf picking device;

[0014] Figure 2 is a schematic diagram of the three-dimensional structure of the picking mechanism of the present application;

[0015] Figures 3-4 is a schematic diagram of the three-dimensional structure of the picking mechanism of the present application;

[0016] Figure 5 is a schematic diagram of the three-dimensional structure of the movable hinged seat of the picking mechanism of the present application;

[0017] Figure 6 is a schematic diagram of the three-dimensional structure of the lateral position sensor of the tobacco plant;

[0018] Figure 7 is a schematic diagram of the three-dimensional structure of the fan-shaped lever trigger switch;

[0019] Figure 8 is a schematic diagram of the sensing principle of the sensor;

[0020] Figure 9 is a schematic diagram of the three-dimensional structure of the semi-circular ring-shaped knife assembly;

[0021] Figure 10 is a schematic diagram of the state of the semi-circular ring-shaped knife when it is not longitudinally aligned;

[0022] Figure 11 is a schematic diagram of the longitudinal self-adaptive alignment of the semi-circular ring-shaped knife;

[0023] Figure 12 is a schematic diagram of the position of the semi-circular ring-shaped knife before the scissors mechanism is closed;

[0024] Figure 13 is a schematic diagram of the relative position of the left and right semi-circular ring-shaped knives when the outer edge surfaces of the contact blocks just start to abut;

[0025] Figure 14 is a schematic diagram of the relative position of the left and right semi-circular ring-shaped knives when the outer edge surfaces of the contact blocks just start to abut;

[0026] Figure 15 is a schematic diagram of the state position of the movable hinge seat when the outer edge surfaces of the two contact blocks do not abut;

[0027] Figure 16 is a schematic diagram of the structure when the movable hinge seat abuts against the fixed seat of the slide rod;

[0028] Figure 17 is a schematic diagram of the structure when the scissors mechanism is lifted;

[0029] Figure 18 is a schematic diagram of the working state of the picking mechanism aligning with the tobacco plant;

[0030] Figure 19 is a schematic diagram of the working state of the picking mechanism holding the tobacco plant;

[0031] Figure 20 is a schematic diagram of the working state of the picking mechanism holding and cutting;

[0032] Figure 21 is a schematic diagram of the working state of the picking mechanism after picking;

[0033] Figure 22 is a schematic diagram of the three-dimensional structure of the collecting mechanism when it is not working;

[0034] Figure 23 is a perspective view of the collecting mechanism when the curtain is raised by the lifting seat;

[0035] Figure 24 is a perspective view of the collecting mechanism when the flap mechanism is flipped;

[0036] Figure 25 is a partial perspective view of the collecting mechanism;

[0037] Figure 26 is a perspective view of the lifting seat;

[0038] Figure 27 is a schematic view of the connecting structure of the flap mechanism, the collecting box and the side plate in the collecting mechanism;

[0039] Figure 28 is a partial view of the lifting seat;

[0040] Figure 29 is a schematic view of the connecting structure of the lifting seat and the telescopic curtain;

[0041] Figure 30 is a perspective view of the flap mechanism in the collecting mechanism from one angle;

[0042] Figure 31 is an exploded view of the flap mechanism in the collecting mechanism from another angle;

[0043] Figure 32 is a perspective view of the collecting box in the collecting mechanism;

[0044] Figure 33 is a partial view of Figure 1 . DETAILED DESCRIPTION

[0045] The present application will be further described in conjunction with the accompanying drawings and specific embodiments.

[0046] The fresh tobacco leaf picking device comprises a gantry-shaped frame 1 and wheels 2 arranged on the lower bottom of the two sides of the gantry-shaped frame 1 and capable of moving along the ridges, the wheels 2 can be driven to rotate by a motor, the device moves along the ridges through the wheels on the lower bottom of the two sides of the gantry-shaped frame 1, two groups of symmetrical lifting seats A and two groups of picking mechanisms respectively installed on the lifting seats are installed on the gantry-shaped frame, the lifting seats A are driven to lift by a lifting drive mechanism 3 installed on the gantry-shaped frame, the picking of fresh tobacco leaves of different heights (or levels) is realized through the driving of the lifting drive mechanism 3, the picking mechanism comprises a picking mechanism B and a collecting mechanism C, as shown in Figure 1 ;

[0047] Specifically, as shown in Figures 2-4As shown; picking mechanism B includes support base plate B1, outer slide plate B2 and inner slide plate B3 which are slidingly mounted on the support base plate, the sliding of the outer slide plate B2 and the inner slide plate B3 relative to the support base plate B1 is supported by the slide rails provided on the support base plate B1.

[0048] The first end of the inner slide plate B3 (the side close to the servo motor B4 in the figure) is driven to slide by the screw-nut mechanism B5 driven by the servo motor B4, a slide rod B6 is mounted between the second end of the outer slide plate B2 (the side away from the servo motor B4 in the figure) and the second end of the inner slide plate, the first end of the slide rod B6 is slidingly sleeved on the slide rod seat B7 of the second end of the inner slide plate, the second end of the slide rod B6 is fixedly mounted on the slide rod fixed seat B8 of the second end of the outer slide plate, a slide rod spring B9 close to the slide rod seat and a movable hinge seat B10 close to the fixed seat are sleeved on the slide rod B6, a support seat B11 is further provided on the second end of the inner slide plate and is spaced apart from the slide rod fixed seat, the movable hinge seat B10 is slidingly arranged on the slide rod between the support seat B11 and the slide rod fixed seat B8, the slide rod spring B6 is abutted between the support seat B11 and the slide rod seat B7, a fixed hinge seat B12 is further mounted on the second end of the inner slide plate, the movable hinge seat B10 and the fixed hinge seat B12 are respectively connected to the lower part of the scissor mechanism B13, when the movable hinge seat B10 and the fixed hinge seat B12 are relatively close, the scissor mechanism is raised, a semicircular ring-shaped knife B14 is mounted on the upper part of the scissor mechanism, the semicircular ring-shaped knives of the two groups of picking mechanisms are close to each other to form a circular ring-shaped knife (i.e. a semicircular ring-shaped knife holding area), so that the fresh tobacco leaves on the tobacco plant B15 can be cut when the scissor mechanism is raised.

[0049] The semicircular ring-shaped knife B14 is mounted on the upper part of the scissor mechanism B13, the tobacco leaf picking device will first fix the starting height of picking in the work, and the starting height of picking will not be adjusted in the same operation.

[0050] Specifically, the movable hinge seat B10 is provided with a slide rod through hole B16 for the slide rod to pass through, the two side portions of the movable hinge seat B10 are provided with a first mounting groove B17 (as shown in the figure) for hingedly connecting one end of the scissor mechanism fork rod. Figure 5 The fixed hinge seat is provided with a second mounting groove B18 for hingedly connecting the other end of the scissor mechanism fork rod.

[0051] The inner slide plate B3 is composed of a first front side plate B19, a first rear side plate B20, and a first connecting plate B21 and a second connecting plate B22 connecting the first end and the second end of the first front side plate B19 and the second rear side plate B20. The inner slide plate B3 has a ring shape, and the first connecting plate B21 is fixedly installed with a nut block B23 of a screw nut mechanism B5. The support base plate B1 is provided with mounting seats B24 for supporting both ends of a screw rod of the screw nut mechanism on both sides of the first connecting plate. The first end of the support base plate is installed with the servo motor B4 and a gear box B25 driven by the servo motor B4. The output end of the gear box B25 is connected with a screw rod B26 of the screw nut mechanism. When the servo motor B4 works, the screw rod B26 is driven to rotate by the gear box B25, which in turn drives the nut block B23, the first connecting plate B21 and the inner slide plate B3 to slide.

[0052] The outer slide plate B2 is composed of a second front side plate B27, a second rear side plate B29, and a third connecting plate B30 connecting the second end of the second front side plate and the second rear side plate. The outer slide plate B2 has a C shape, and the second end of the outer slide plate is provided with a replaceable contact block B31, which can be made of wear-resistant material. The outer edge surface of the contact block B31 (i.e. the surface away from the servo motor) serves as the abutting surface when the two picking mechanisms B relatively approach each other.

[0053] The support base plate B1 is provided with tobacco plant transverse position sensors B32 on both sides. There are four groups of tobacco plant transverse position sensors B32 in total. The levers B28 of the oppositely arranged tobacco plant transverse position sensors are flush when not actuated, and the levers are perpendicular to the direction of travel of the gantry-shaped frame (as shown in Figure 6 ).

[0054] The bottom surface of the support base plate B1 of one of the two groups of picking mechanisms is installed with a fan-shaped lever trigger switch B33, and the fan-shaped lever trigger switch B33 is installed with a fan-shaped lever B34. The center line of symmetry of the fan-shaped lever coincides with the transverse center line of the split ring-shaped knife in the top view direction (as shown in Figure 7 ).

[0055] Specifically, the tobacco plant transverse position sensors B32 and the fan-shaped lever trigger switches B33 are two types of sensor devices for realizing the bidirectional travel picking function of the picking machine. Both types of levers can be actuated in two directions under the action of external force, and can be self-reset after the external force is removed, so as to adapt to the external force from different directions of the tobacco plant during bidirectional travel.

[0056] The tobacco plant transverse position sensor B32 is arranged in front and back and left and right symmetrical layout (4 in total), the two pairs of tobacco plant transverse position sensors in front and back symmetrical layout make response to the position of tobacco plant in forward and reverse driving process respectively, the maximum angle of the lever being pushed is proportional to the transverse deviation of the tobacco plant from the center line of the left and right semi-circular ring knife, which is used to sense the transverse deviation of the tobacco plant, so that the control system of the device controls the translational motion of the left and right picking mechanisms as a whole, and adjusts the transverse position of the left and right semi-circular ring knives in time, so that the semi-circular ring knives can be aligned with the tobacco plant in the transverse direction to achieve accurate holding.

[0057] The fan-shaped lever trigger switch B33 can generate a trigger signal when the fan-shaped lever is pushed left and right. The fan-shaped lever trigger switch is arranged directly below the semi-circular ring knife, and the center line of the fan-shaped lever coincides with the transverse center line of the semi-circular ring knife in the top view. When the picking machine drives the picking mechanism to work, the tobacco plant pushes the fan-shaped lever, and when one side of the fan-shaped lever coincides with the center line of the semi-circular ring knife in the top view, a trigger signal is generated (at this time, the tobacco plant enters the optimal holding area of the semi-circular ring knife). The control system of the device controls the semi-circular ring knife seat of the picking mechanism to hold the tobacco plant and generates a cutting type tobacco leaf picking action from bottom to top, completing the picking of tobacco leaves.

[0058] The tobacco plant transverse position sensor mainly consists of a lever, an angle sensor and a rotary self-resetting trigger switch. The rotary shafts of the angle sensor and the trigger switch are connected together through a rotary shaft connector. The lever crosses the rotary shaft connector and can drive the rotary shafts of the angle sensor and the trigger switch to rotate as a whole under the action of external force. At the same time, the lever can be reset by the self-restoring force of the rotary shaft of the trigger switch. When the tobacco leaf picker moves, the tobacco plant pushes the lever to make the angle sensor generate a deflection angle measurement value. By establishing a mathematical relationship between the rotation angle and the distance of the tobacco plant from the center line of the picking device, the transverse deviation of the tobacco plant from the center line of the semi-circular ring knife of the picking device is sensed, so as to control the translational amount of the picking mechanism and align the semi-circular ring knife seat with the tobacco plant. The sensing principle of the sensor is shown in Figure 8

[0059] In the figure, D0: the initial distance between the two left and right swing rods; L: the length of the lever; D: the diameter of the tobacco plant a : the actual distance of the tobacco plant from the center line; S m : the distance of the tobacco plant from the center line detected by the sensor; a: the rotation angle of the lever;

[0060] S m = L x (1-cos a)

[0061] The maximum measurement error can be represented by the following formula (1):

[0062] E = 0.5 x |D-D0| (1)

[0063] ​Therefore, when the initial distance of the left and right feeler rods and the tobacco plant diameter are closer, the measurement error is smaller. In actual operation, the initial distance between the feeler rods is adjusted according to the overall growth of the tobacco plants in the field.

[0064] As shown in Figure 9 , the upper part of the scissor mechanism B13 is provided with a tool holder mounting plate B35, two groups of tool holder slide rods B36 and tool holders B37 slidingly mounted on the tool holder slide rods are mounted on the tool holder mounting plate, the semicircular ring-shaped knife B14 is mounted on the tool holder B37, and tobacco plant guide rods B38 are obliquely mounted on both sides of the tool holder B37, the two tobacco plant guide rods on the same tool holder form a V shape, and the tobacco plant guide rods in the two groups of picking mechanisms are arranged in a staggered manner in the vertical position of the tobacco plants.

[0065] The tool holder mounting plate B35 is provided with reset rods B39 parallel to the tool holder slide rods, the tool holder is slidingly connected with the reset rods, reset springs B40 are arranged on both sides of the tool holder on the reset rods, the semicircular ring-shaped knife can slide forward and backward along the two tool holder slide rods in the operation driving direction through the tool holder, and the semicircular ring-shaped knife is automatically reset through the tool holder reset spring B40. The tobacco plant guide rods B38 on both sides of the semicircular ring-shaped knife play a role in making the semicircular ring-shaped knife adaptively align with the tobacco plants in the longitudinal direction through forward and backward sliding, and the action process is as shown in Figure 10 and 11 .

[0066] Figure 10 As shown in the schematic state, although the left and right semicircular ring-shaped knives cannot completely align with the tobacco plants in the longitudinal direction, in the folding process of the semicircular ring-shaped knives, the tobacco plant guide rods B38 press the tobacco plants, the reaction force of the tobacco plants on the guide rods drives the semicircular ring-shaped knives to adaptively slide in the longitudinal direction to the alignment direction, and the semicircular ring-shaped knives automatically align with the tobacco plants in the longitudinal direction, and finally the semicircular ring-shaped knives adaptively hold the tobacco plants, as shown in Figure 11 , when the semicircular ring-shaped knives complete the cutting action, the semicircular ring-shaped knives release the holding of the tobacco plants, and the semicircular ring-shaped knives are automatically reset to the middle position under the action of the tool holder reset spring.

[0067] Before the two picking mechanisms on both sides approach each other, in order to make the tobacco plants B15 smoothly enter the folding area of the semicircular ring-shaped knives, the outer end points of the tobacco plant guide rods B38 of the semicircular ring-shaped knives cannot protrude (exceed) the outer edge surface of the contact block B31 before folding (i.e. the abutting surface when the two groups of picking mechanisms are relatively close), if the outer end points of the tobacco plant guide rods B38 protrude the outer edge surface of the contact block B31, the entire semicircular ring-shaped knife holder has the possibility of being pushed by the tobacco plants, so that the tobacco plants cannot enter the folding area of the semicircular ring-shaped knives, and finally lead to the tobacco plants being pushed down by the mechanism or the mechanism being damaged by the tobacco plants (as shown in Figure 12 ).

[0068] The lifting of the knife seat B37 is achieved by changing the lateral distance between the movable hinge seat B10 and the fixed hinge seat B12 of the scissor mechanism. Since the tobacco stalk guide rod B38 of the semicircular ring knife cannot protrude to contact the outer edge surface of the contact block B31 before the knife seat is folded, the semicircular ring knives on the left and right sides are not completely folded when the outer edge surfaces of the contact blocks B31 on the left and right sides just start to abut (as shown in Figure 13 ). If the scissor mechanism starts to rise to cut the tobacco leaves at this time, it will cause the tobacco leaves to be missed. Therefore, after the outer edge surfaces of the contact blocks B31 on the left and right sides just start to abut, the scissor mechanisms on the left and right sides need to continue to move towards each other as a whole, so that the semicircular ring knives on the left and right sides are fully folded, and then the scissor mechanism can rise as a whole to perform the cutting and picking action of the tobacco leaves. For this purpose, the present application adopts the above-mentioned movable hinge seat, sliding rod B6 and other structures, which make the outer edge surfaces of the contact blocks B31 on the left and right sides just start to abut, and then continue to slide towards each other on the sliding rod B6 through the movable hinge seat under the pushing of the inner sliding plate B3. When the movable hinge seat moves to the designed maximum stroke (i.e. is abutted by the sliding rod fixed seat B8), the overall translation of the scissor mechanisms on the left and right sides ends, and the semicircular ring knives on the left and right sides are fully folded (as shown in Figure 14 ). After that, the inner sliding plates on the left and right sides continue to push towards each other, and then the scissor mechanism rises to drive the semicircular ring knife to cut the tobacco leaves.

[0069] When the outer sliding plate B2 is not limited by external force (the outer edge surfaces of the contact blocks B31 on the left and right sides are not abutted), since the resistance between the sliding plate and the support bottom plate B1 is much smaller than other mechanism forces, when the servo motor B4 pushes the inner sliding plate B3 to move towards the tobacco column side, the inner sliding plate pushes the outer sliding plate B2 to move as a whole through the sliding rod spring B9, and there is no relative movement between them. When the outer sliding plate is limited (the outer edge surfaces of the contact blocks B31 on the left and right sides are abutted), when the servo motor pushes the inner sliding plate to move towards the tobacco column side, the inner sliding plate and the outer sliding plate produce relative movement, and the lateral distance between them is compressed. Since the pushing force required for the lifting of the scissor mechanism is much larger than the friction between the movable hinge and the sliding rod and the elastic force of the sliding rod spring, at this time, the sliding rod spring is compressed, and the scissor mechanism slides as a whole on the sliding rod between the support seat B11 and the sliding rod fixed seat B8 through the movable hinge seat (as shown in Figure 15 and Figure 16 two extreme states of the scissor mechanism sliding as a whole on the sliding rod). When the movable hinge seat of the scissor mechanism abuts against the sliding rod fixed seat B8, the scissor mechanism no longer slides as a whole. At this time, the semicircular ring knives on the left and right sides complete the full embrace of the tobacco stalks by the two semicircular ring knives due to the overall sliding of the scissor mechanism. If the pushing force of the servo motor continues to act, the fork rod of the scissor mechanism will be lifted (as shown in Figure 17 ), and the knife seat starts to cut the tobacco leaves upwards.

[0070] The working method of the fresh tobacco leaf picking device, in the initial state, the left and right picking mechanisms are symmetrically arranged on both sides of the center line of the fresh tobacco leaf picking device, so that the diameters of the semi-circular ring knives on the left and right sides are greater than the diameters of the tobacco plants to be picked, so as to ensure that the tobacco plants to be picked can smoothly enter the semi-circular ring knife holding area; when working, the gantry frame is arranged on the field ridge, the wheels at the bottom of the two sides of the gantry frame travel on the field ridge passage, when the tobacco plant transverse position sensor senses that the tobacco plant deviates from the symmetric center line of the semi-circular ring knives on both sides of the picking mechanism, the left and right picking mechanisms move integrally in the same direction towards the deviation direction of the tobacco plant under the drive of the servo motor, the interval between the semi-circular ring knives on the left and right sides is kept unchanged during the movement, and the tobacco plant is transversely aligned with the tobacco plant; when the tobacco plant enters the area surrounded by the semi-circular ring knives on the left and right sides and triggers the fan-shaped lever trigger switch, the gantry frame stops driving, and the picking mechanisms on both sides move towards each other under the drive of the servo motor, so that the semi-circular ring knives on the left and right sides are closed and the tobacco plant is held; when the outer edges of the contact blocks of the outer sliding plates on the left and right sides abut against each other, the two outer sliding plates stop moving, and the inner sliding plate continues to move, so that the transverse distance between the inner and outer sliding plates is reduced, thereby pushing the scissors mechanism to rise, thereby driving the semi-circular ring knives to rise, and the fresh tobacco leaves are picked by the holding and cutting of the semi-circular ring knives on the left and right sides; when the scissors mechanism rises to the set highest point, the servo motors on the left and right sides move in the opposite direction, the scissors mechanisms on the left and right sides start to descend under the drive of the servo motor and finally separate in the opposite direction, and return to the state when the scissors mechanisms on the left and right sides start to move towards each other and close, and the gantry frame is driven again to move forward as a whole, and the picking of the tobacco leaves of the next tobacco plant starts.

[0071] When the movement of the outer sliding plates is not limited by external force, that is, the outer sliding plates on the left and right sides are not abutted against each other, and the inner sliding plate is moved from the first end to the second end by the servo motor, the inner sliding plate pushes the outer sliding plate to move integrally by the sliding rod spring, and there is no relative movement between the two, and when the movement of the outer sliding plates is limited, that is, the outer sliding plates on the left and right sides abut against each other, and the inner sliding plate is continuously moved from the first end to the second end by the servo motor, the inner sliding plate and the outer sliding plate move relatively, and the transverse distance between the two is compressed, since the pushing force required for lifting the scissors mechanism is much greater than the friction between the movable hinge and the sliding rod and the elastic force of the sliding rod spring, at this time, the sliding rod spring is compressed, and the scissors mechanism slides integrally on the sliding rod between the support seat and the sliding rod fixed seat through the movable hinge seat, when the movable hinge seat of the scissors mechanism abuts against the sliding rod fixed seat, the scissors mechanism stops sliding integrally, at this time, the semi-circular ring knives on the left and right sides complete the full holding of the tobacco plant by the scissors mechanism, if the pushing force of the servo motor continues to act, the fork rod of the scissors mechanism will be lifted, and the knife seat starts to cut the tobacco leaves upward.

[0072] The tobacco leaf picking process of the present application can be divided into five working states as shown in Figures 18~21

[0073] 1. Aligning tobacco plants: the tobacco plants enter the tobacco plant position sensing area of the picking device, the toggle lever of the tobacco plant horizontal position sensor is actuated, the tobacco plant position sensing sensor senses the offset distance of the tobacco plant, the two side servo motors drive the scissor picking mechanism to move horizontally in the same direction until the semicircular ring-shaped knife seat is horizontally aligned with the tobacco plant, and the working state is as shown in Figure 18

[0074] 2. Clamping tobacco plants: after the semicircular ring-shaped knife is horizontally aligned with the tobacco plant, the tobacco plant actuates and triggers the fan-shaped toggle lever type trigger switch during the advancing process, at this time the two side servo motors drive the scissor picking mechanism to move towards each other, so that the left and right semicircular ring-shaped knives fully wrap and hold the tobacco plant, and the working state is as shown in Figure 19

[0075] 3. Clamping and cutting: after the left and right semicircular ring-shaped knives are wrapped, the outer edge surfaces of the two contact blocks B31 abut and contact, and remain stationary, at this time the servo motor continues to maintain the original advancing direction, the inner sliding plates on both sides continue to move forward to reduce the distance between the inner sliding plates and the outer sliding plates, so that the scissor mechanism is quickly lifted to complete the cutting of the tobacco leaves, when the semicircular ring-shaped knife moves to the set height, the servo motor reverses to move, so that the scissor mechanism falls down, and the working state is as shown in Figure 20

[0076] 4. Knife seat resetting: after the picking mechanism completes the picking of tobacco leaves, the two side servo motors drive the picking mechanism to move in reverse, so that the distance between the two semicircular ring-shaped knives returns to the state before the semicircular ring-shaped knives are wrapped, and the tobacco picking equipment is restarted to move forward, so that the tobacco plants can smoothly leave the picking area of the picking mechanism, when the tobacco plants leave the tobacco leaf picking area, the two side servo motors drive the scissor mechanism to move horizontally in the same direction, so that the center lines of the two semicircular ring-shaped knives return to the initial position, and the working state is as shown in Figure 20

[0077] The innovations of the picking mechanism of the present application are as follows:

[0078] ​​​​​1. Bidirectional picking can be realized, and small space row changing operation function is provided, four groups of tobacco plant transverse position sensors B32 are arranged, which are symmetrical in structure, the transverse position sensor lever can be bidirectionally pushed and automatically reset; at the same time, the fan-shaped lever type trigger switch B33 below the knife seat is bidirectionally pushable, and a fan-shaped lever is used, the fan-shaped angle is twice the trigger angle of the trigger switch, so that the fan-shaped lever is triggered when it is pushed to the horizontal position (the top view direction coincides with the center line of the knife seat), to ensure that the relative position of the tobacco plant and the semi-circular ring knife is consistent each time the trigger is triggered, and the above design makes the picking mechanism adapt to bidirectional operation, so that the picking device can realize row changing operation without turning, and the requirement of small space row changing operation is realized.

[0079] 2. The semi-circular ring knife has a longitudinal self-adaptive alignment function for tobacco plants, so that the knife seat can be self-adaptively aligned with the tobacco plants in the longitudinal direction, and in order to avoid the situation that the scissors fork mechanism starts to rise and the semi-circular ring knife does not embrace the tobacco plants, causing the tobacco leaves to be missed, the movable hinge seat and the sliding rod of the scissors fork mechanism are designed.

[0080] The collection mechanism C includes a telescopic curtain C1 fixedly connected with the lifting seat A, a conveying belt C2, a collection box C3 and a flap mechanism C4, as shown in Figures 22-33

[0081] The telescopic curtain C1 includes a main roller C5 installed at both ends of the lifting seat and a curtain cloth C6 wound and tightened on the main roller at one end (as shown in Figure 25 The main roller C5 is provided with a winding spring to have an elastic winding function, when the pulling force of the curtain cloth C6 is greater than the tightening force of the winding spring, the curtain cloth is pulled out, the leading end of the curtain cloth is connected with the cover plate B41 at the top of the scissors fork mechanism in the picking mechanism, and can move with the picking mechanism, the curtain cloth of the two groups of symmetrically arranged collection mechanisms C is combined into a moving receiving surface, the moving receiving surface can receive the fresh tobacco leaves picked by the picking mechanism, when the leading end of the curtain cloth is not pulled out, the moving receiving surface is in a horizontal state (as shown in Figure 22 When the leading end of the curtain cloth is pulled out and rises with the scissors fork mechanism, the moving receiving surface is in an inclined state (as shown in Figure 23

[0082] As shown in Figure 25 The conveying belt C2 is installed on the upper part of the lifting seat and above the main roller, the collection box C3 is installed on both sides of the lifting seat, the rotating direction of the conveying belt C2 is opposite to the advancing direction of the gantry-shaped frame, when the leading end of the curtain cloth is pulled out and rises with the scissors fork mechanism, the moving receiving surface is in an inclined state, at this time, the picked fresh tobacco leaves first fall onto the curtain cloth, and then slide from the curtain cloth to the conveying belt, and finally are conveyed to the collection box by the conveying belt;

[0083] As shown in Figures 30-31 ​​As shown, the flap mechanism C4 includes a flange sleeve C7 mounted on the lifting seat A and a flap motor C8 sleeved in the flange seat, the rotating shaft of the flap motor C8 extends out of the flange sleeve and is connected with the flap shaft C9, the flap shaft C9 is connected with the flap base plate C10 beside the collecting box through the flap shaft support seat C14, the edge of the flap base plate C10 away from the collecting box is provided with the brush C11 which is fixed on the edge of the flap base plate C10 by gluing, under the action of the flap motor, the flap base plate is driven to rotate, which can arrange the tobacco falling thereon into the collecting box, the two groups of symmetrically arranged brushes C11 are relatively close, since the brush C11 is adopted, the falling tobacco can be supported and interference can be avoided, if the position of the brush C11 adopts rigid plate material, interference with the tobacco plant in movement will be caused.

[0084] Specifically, two flap shaft support seats C14 are installed on the flap shaft C9 in parallel and at intervals, the flap base plate C10 is fixedly installed on the two flap shaft support seats C14, one end surface of the flange sleeve C7 is fixedly installed with the flap motor C8, the other end surface of the flange sleeve is fixedly installed with the end cover C15, the end cover C15 is installed with the bearing C16 and the flap shaft sleeve C17 penetrating in the bearing, the flap shaft C9 is inserted in the flap shaft sleeve C17, the flap shaft is fastened together with the flap shaft sleeve through the set screw, the output end rotating shaft of the flap motor C8 is coaxial with the flap shaft C9 and is connected in series through (pin key or coupling, etc.).

[0085] The front end of the flap base plate C10 is inclined downward by a certain angle, the purpose is to make the front end of the flap base plate lower than the tobacco to be picked, so that the picking mechanism can shovel up the tobacco during the advancing process, the whole tobacco is located above the flap base plate, the collection success rate is improved; the combination structure of the flange sleeve C7 and the flap shaft sleeve C17 is adopted to combine the flap motor and the flap base plate together, the whole flap base plate has a cantilever beam structure, the support points are reduced (two support points are required in the conventional), and the motor shaft is not affected by the lateral force (the lateral force is mainly borne by the bearing and the flange sleeve), the power consumption of the motor is reduced.

[0086] As Figure 26As shown, the lifting seat A includes a fixed mounting base A1 and a left side plate A2 and a right side plate A3 arranged in parallel on the mounting base, which can be fixed by welding. The left side plate A2 and the right side plate A3 are provided with an arc-shaped mounting groove A4 for installing a conveying belt and a support A5. One side of the conveying belt is fixed on the support A5, and the other side of the conveying belt is installed on the arc-shaped mounting groove A4. When the inclination angle of the conveying belt needs to be adjusted, the other side of the conveying belt is installed at different positions of the arc-shaped mounting groove A4. The left side plate and the right side plate are provided with a telescopic curtain flange hole A6. The main roller C5 of the telescopic curtain C1 is installed at both ends of the telescopic curtain flange hole. The side of the left side plate and the right side plate is provided with a flap mechanism mounting square hole A7. The flange sleeve C7 is installed on the flap mechanism mounting square hole A7. The side of the collection box C3 is provided with a sliding seat C12 with a through hole (as shown in Figure 32 The through hole of the sliding seat is sleeved with the guide rod C13 of the left side plate and the right side plate, that is, the collection box C3 can slide up and down relative to the guide rod C13 on the left side plate or the right side plate. The purpose of designing the collection box C3 to slide up and down relative to the guide rod C13 on the left side plate or the right side plate is to ensure that there is enough safe working space between the collection box and the ridge and the furrow, and to ensure that the collection box has as much tobacco collection space as possible when picking the upper tobacco leaves.

[0087] The lifting seat A is fixedly installed on the mounting base between the left side plate and the right side plate and is provided with a lifting slide A8. The lifting slide A8 is provided with two guide holes A9. The vertical guide rod 4 of the gantry-shaped rack 1 is arranged to cooperate with the guide holes A9 to slide. The middle part of the lifting seat is provided with a channel A10. The synchronous belt 6 with synchronous pulleys 5 at both ends is arranged in the channel A10. The two synchronous pulleys supporting and driving the synchronous belt are installed on the upper part and the lower part of the gantry-shaped rack, respectively. A clamping plate 7 is fixedly installed on the synchronous belt. The clamping plate 7 is locked and fixed on the lifting slide by bolts. The synchronous pulley at the upper part of the gantry-shaped rack is driven to rotate by the motor 8 and the speed reducer 9. Under the driving of the motor, the synchronous pulley rotates, thereby driving the synchronous belt, the clamping plate and the lifting seat to move up and down. The motor 8, the speed reducer 9, the synchronous belt 6, the synchronous pulley 5 and the clamping plate 7 constitute the lifting driving mechanism 3 (as shown in Figure 33 ).

[0088] The lifting seat A and the components connected thereto are in a suspended state, which is driven to lift by the synchronous belt to adapt to the functional requirements of the layered picking mechanism.

[0089] On the lifting platform A, between the left and right side plates, are two intermediate guide rollers A11 and two front guide rollers A12. The curtain C6, output from the main roller C5, passes under the two intermediate guide rollers C11 and one front guide roller C12, then around another front guide roller before being led out and connected to the cover plate at the top of the harvesting mechanism. This structure ensures smooth operation of the telescopic curtain (e.g., Figures 28-29 (As shown).

[0090] The working methods of the collection agency

[0091] During operation, the conveyor belt maintains a constant speed, and its rotation direction is opposite to the travel direction of the gantry frame. The curtain extension end of the telescopic curtain is aligned with the top of the scissor mechanism of the harvesting mechanism. Cover plate The telescopic curtains on both sides of the machine connect and move with the scissor mechanism, forming a movable receiving surface to prevent the harvested tobacco leaves from falling to the ground or getting stuck inside the harvesting mechanism. When the harvesting mechanism wraps around and cuts the tobacco plant, the curtains of the telescopic curtains rise synchronously with the scissor mechanism, which then flips the harvested tobacco leaves distributed on the left and right sides, causing them to fall onto the conveyor belt and finally be transported to the collection box. The harvested tobacco leaves that do not fall onto the conveyor belt fall onto the flip plate base. The flip plate base of the flipping mechanism flips up only after the scissor mechanism of the harvesting mechanism falls back down, flipping the fresh tobacco leaves into the collection boxes on both sides. After the harvester finishes harvesting the tobacco leaves of a tobacco plant and continues to move forward, the flip plate base flips up again. That is, for each tobacco plant harvested, the curtains of the telescopic curtains flip once, and the flip plate base flips twice, so that the tobacco leaves falling onto the flip plate base can fall completely into the collection box.

[0092] This invention can achieve layered harvesting by fixing the picking and collecting mechanisms at different starting heights at different growth stages of tobacco leaves, starting from the bottom, through a lifting drive mechanism. By controlling the upward movement of the semi-circular blade, quantitative harvesting of tobacco leaves is achieved on the basis of layering. Since the semi-circular blade always maintains a close grip on the tobacco plant during the harvesting process, the harvested tobacco leaves can basically retain the leaf auricles at the base of the leaves, ensuring the harvesting quality. Overall, the tobacco leaf harvester realizes the layered quantitative harvesting function.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A tobacco bidirectional picking mechanism, characterized in that: The device comprises a support base plate, an outer slide plate and an inner slide plate, the first end of the inner slide plate is driven to slide by a screw nut mechanism driven by a servo motor, a slide rod is installed between the second end of the outer slide plate and the second end of the inner slide plate, the first end of the slide rod is slidably sleeved on a slide rod seat at the second end of the inner slide plate, the second end of the slide rod is fixedly installed on a slide rod fixed seat at the second end of the outer slide plate, a slide rod spring is sleeved on the slide rod relative to the side close to the slide rod seat and a movable hinge seat is sleeved on the slide rod relative to the side close to the fixed seat, a support seat is further arranged on the second end of the inner slide plate and is spaced from the slide rod fixed seat, the movable hinge seat is slidably arranged on the slide rod between the support seat and the slide rod fixed seat, the slide rod spring is abutted between the support seat and the slide rod seat, a fixed hinge seat is further installed on the second end of the inner slide plate, the movable hinge seat and the fixed hinge seat are respectively connected to the lower part of a scissor mechanism, when the movable hinge seat and the fixed hinge seat are close to each other, the scissor mechanism is raised, the upper part of the scissor mechanism is installed with a semicircular ring-shaped knife, the semicircular ring-shaped knives of two groups of picking mechanisms are close to each other to form a circular ring-shaped knife, so as to cut fresh tobacco leaves on the tobacco plant when the scissor mechanism is raised; the inner slide plate is composed of a first front side plate, a first rear side plate, a first connecting plate connecting the first end of the first front side plate and the first rear side plate, and a second connecting plate connecting the second end of the first front side plate and the first rear side plate, a nut block of the screw nut mechanism is fixedly installed on the first connecting plate, mounting seats for supporting the two ends of the screw rod of the screw nut mechanism are arranged on both sides of the first connecting plate on the support base plate, a servo motor and a gear box driven by the servo motor are installed on the first end of the support base plate, and the output end of the gear box is connected with the screw rod of the screw nut mechanism; a tobacco plant transverse position sensor is installed on both sides of the support base plate, the tobacco plant transverse position sensor is composed of a lever, an angle sensor and a rotary self-resetting trigger switch, the rotating shafts of the angle sensor and the trigger switch are connected together through a rotating shaft connector, the lever crosses the rotating shaft connector and can drive the rotating shafts of the angle sensor and the trigger switch to rotate integrally under the action of external force, and the lever can be reset by the self-restoring force of the rotating shaft of the trigger switch.

2. The tobacco bidirectional picking mechanism according to claim 1, characterized in that: A slide rod through hole is arranged on the movable hinge seat for the slide rod to pass through, first mounting grooves for hingedly connecting one end of a scissor mechanism are arranged on both sides of the movable hinge seat, and second mounting grooves for hingedly connecting the other end of the scissor mechanism are arranged on the fixed hinge seat.

3. The tobacco bidirectional picking mechanism according to claim 2, characterized in that: The outer slide plate is composed of a second front side plate, a second rear side plate and a third connecting plate connecting the second end of the second front side plate and the second rear side plate, and a replaceable contact block is arranged at the second end of the outer slide plate.

4. The tobacco bidirectional picking mechanism according to claim 3, characterized in that: There are four groups of tobacco plant transverse position sensors in the two groups of picking mechanisms, and the levers of the opposite tobacco plant transverse position sensors are flush when not being pushed.

5. The tobacco bidirectional picking mechanism according to claim 4, characterized in that: The bottom surface of the support bottom plate of one of the two groups of picking mechanisms is provided with a sector-shaped lever trigger switch, and a sector-shaped lever is arranged on the trigger switch, with the symmetric center line of the sector-shaped lever coinciding with the transverse center line of the split circular knife in the top view.

6. The tobacco bidirectional picking mechanism according to claim 5, characterized in that: The upper part of the scissors mechanism is provided with a knife seat mounting plate, two groups of knife seat sliding rods and slidingly mounted knife seats on the knife seat mounting plate, the semi-circular ring knife is mounted on the knife seat, and tobacco plant guide rods are obliquely arranged on both sides of the knife seat, and the two tobacco plant guide rods on the same knife seat form a V shape, and the tobacco plant guide rods in the two groups of picking mechanisms are arranged in a staggered manner in the vertical position of the tobacco plant.

7. The tobacco bidirectional picking mechanism according to claim 6, characterized in that: The knife seat mounting plate is provided with reset rods parallel to the knife seat sliding rods, the knife seat is slidingly connected with the reset rods, and reset springs are arranged on both sides of the knife seat on the reset rods.

8. A method of operating a tobacco leaf bidirectional picking mechanism as claimed in any one of claims 1 to 7, characterised in that: In the initial state, the left and right picking mechanisms are symmetrically arranged on both sides of the center line of the tobacco leaf picking device, so that the semi-circular ring knives on both sides remain greater than the diameter of the tobacco plant to be picked, so as to ensure that the tobacco plant to be picked can smoothly enter the holding area of the semi-circular ring knife; when working, the tobacco leaf picking device is arranged on the field ridge, and the wheels of the tobacco leaf picking device travel on the field ridge, and during the travel, When the tobacco plant transverse position sensor senses that the tobacco plant deviates from the symmetric center line of the semi-circular ring knives on both sides of the picking mechanism, the left and right picking mechanisms move in the same direction as the deviation direction of the tobacco plant under the drive of the servo motor, and the interval between the semi-circular ring knife seats on both sides remains unchanged during the movement, until the knife seats on both sides are transversely aligned with the tobacco plant; when the tobacco plant enters the holding area of the left and right semi-circular ring knives and triggers the sector-shaped lever trigger switch, the tobacco leaf picking device stops driving, and the picking mechanisms on both sides move towards each other under the drive of the servo motor, so that the semi-circular ring knives on both sides are closed and the tobacco plant is held; when the outer edges of the contact blocks of the left and right outer sliding plates abut, the two outer sliding plates stop moving, and the inner sliding plate continues to move, so that the transverse interval between the inner and outer sliding plates decreases, thereby driving the scissors mechanism to rise, thereby driving the semi-circular ring knife to rise, and the fresh tobacco leaf is picked by the holding and cutting of the left and right semi-circular ring knives; when the scissors mechanism rises to the set highest point, the servo motors on both sides move in the opposite direction, the scissors mechanisms on both sides start to descend under the drive of the servo motor and finally separate in the opposite direction, and return to the state when the scissors mechanisms on both sides just start to move towards each other and close, and at the same time, the tobacco leaf picking device moves forward again, and the picking of the tobacco leaf of the next tobacco plant starts.

9. The method for operating the tobacco bidirectional picking mechanism according to claim 8, characterized in that: When the outer slide plate movement is not limited by external force, that is, the left and right sides of the outer slide plate is not abutted, the servo motor pushes the inner slide plate from the first end to the second end, the inner slide plate pushes the outer slide plate to do the whole translation through the slide rod spring, and there is no relative movement between the two. When the outer slide plate movement is limited, that is, the left and right sides of the outer slide plate is abutted, the servo motor continues to push the inner slide plate from the first end to the second end, the relative movement between the inner slide plate and the outer slide plate is generated, and the transverse distance between the two is compressed. Since the lifting force required by the scissors mechanism is much larger than the friction between the movable hinge and the slide rod and the elastic force of the slide rod spring, at this time, the slide rod spring is compressed, the scissors mechanism slides as a whole on the slide rod between the support seat and the slide rod fixed seat through the movable hinge seat. When the movable hinge seat of the scissors mechanism abuts against the slide rod fixed seat, the scissors mechanism no longer slides as a whole. At this time, the semi-circular ring-shaped knives on the left and right sides complete the full embrace of the knife edge to the tobacco plant due to the whole sliding of the scissors mechanism. If the servo motor continues to push, the fork rod of the scissors mechanism will be lifted, and the knife seat starts to cut the tobacco leaf upward.

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