An eccentric tobacco leaf picking device

Abstract

The present application provides a kind of eccentric tobacco picking device, including first drive wheel, second drive wheel and manipulator, the second drive wheel is coaxial eccentric setting relative to first drive wheel, the manipulator is provided with multiple and is uniformly distributed in the first drive wheel, the manipulator includes first connecting arm and star wheel, one end of the first connecting arm is pivotally connected to the first drive wheel, the star wheel can be free rotation, the manipulator is constantly picked tobacco from top to bottom with the rotation of the first drive wheel.The present application has the advantages of simple structure, ingenious design, no damage to tobacco, picking complete and the like.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to an eccentric tobacco leaf harvesting device. Background Technology

[0002] Harvesting is a crucial step in tobacco production. Ensuring the integrity of the tobacco leaves and avoiding mechanical damage during harvesting is a major bottleneck that tobacco harvesting machinery struggles to overcome. As described in patent 202111454570.4, a star wheel structure is used for harvesting. However, the parallel harvesting with multiple rows of star wheels in this patent leads to omissions during the harvesting process, making it impossible to harvest completely from top to bottom. Furthermore, the star wheels themselves are made of a soft, rubbery material, which sometimes slips over the tobacco leaves, causing them to be missed.

[0003] Therefore, it is necessary to provide a new technical solution. Summary of the Invention

[0004] To address the technical problems existing in the prior art, this invention discloses an eccentric tobacco leaf harvesting device, the specific technical solution of which is as follows:

[0005] This invention provides an eccentric tobacco leaf harvesting device, comprising:

[0006] Fixed frame;

[0007] A servo motor is located at the top center of the fixed frame;

[0008] The first right-angle drive is symmetrically arranged on both sides of the servo motor and fixed to the top two sides of the fixed frame by the first fixing bracket. The first right-angle drive is connected to the servo motor through the first drive shaft.

[0009] The second right-angle actuator is respectively disposed below the first right-angle actuator and fixedly connected to the second fixed frame. The second right-angle actuator is connected to the first right-angle actuator through a second drive shaft.

[0010] A first drive wheel is fixed to one end of a third drive shaft, the other end of which is fixed to a second mounting bracket and connected to a second right-angle transmission mechanism. The first drive wheel rotates as the third drive shaft rotates.

[0011] The robotic arm comprises multiple components evenly distributed circumferentially on the first drive wheel. Each robotic arm includes a first connecting arm and a star wheel. The top of the star wheel is connected to one end of the first connecting arm, and the other end of the first connecting arm is pivotally connected to the first drive wheel. The star wheel itself can rotate freely horizontally without power.

[0012] The first right-angle actuator, the second right-angle actuator, and the robotic arm on both sides are symmetrically arranged and powered by the same servo motor. The star wheels on both sides move synchronously.

[0013] The robotic arms on both sides continuously pick tobacco leaves from top to bottom as the first drive wheel rotates.

[0014] Furthermore, the star wheel has a star-shaped structure, the interior of the star wheel is a steel plate structure, and the exterior of the steel plate is covered with a rubber layer, the thickness of which exceeds two-thirds.

[0015] Furthermore, the first drive wheel extends outward with three protrusions at 120° intervals around its circumference, and the robotic arm is respectively mounted on the three protrusions.

[0016] Furthermore, it also includes a second drive wheel, which is eccentrically fixed on a third drive shaft between the first drive wheel and the second right-angle transmission. The second drive wheel is provided with the same number of rotating shafts and second connecting arms as the number of the manipulators. The rotating shafts are pivotally connected to the second drive wheel. One end of the second connecting arm is perpendicularly fixedly connected to the rotating shaft, and the other end of the second connecting arm is perpendicularly fixedly connected to the end of the first connecting arm that passes through the first drive wheel.

[0017] Furthermore, it also includes a lifting device, which includes a lifting screw and a handwheel. The top end of the lifting screw is pivotally connected to the first fixed frame, and the bottom end of the lifting screw is pivotally connected to the fixed frame. The lifting screw passes through a threaded hole on the second fixed frame and is threadedly connected to the second fixed frame. The handwheel is located at the top end of the lifting screw, and rotating the handwheel controls the lifting of the second fixed frame.

[0018] Furthermore, the second drive shaft is a hexagonal square shaft, and the second drive shaft extends downward to be fixedly connected to the bottom of the fixed frame.

[0019] Furthermore, the second right-angle actuator is sleeved on the outside of the second drive shaft, and the second right-angle actuator can move up and down on the second drive shaft.

[0020] The present invention has the following beneficial effects:

[0021] 1. The eccentric tobacco leaf picking device provided by the present invention has a simple structure and ingenious design, and is easy to manufacture on a large scale.

[0022] 2. The eccentric tobacco leaf picking device provided by the present invention has a star wheel that rotates in a cycle, and can completely pick tobacco leaves from top to bottom.

[0023] 3. The eccentric tobacco leaf picking device provided by the present invention has an internal steel plate wrapped with rubber, which has both hardness and elasticity, so as not to damage the tobacco leaves or miss them.

[0024] 4. The eccentric tobacco leaf picking device provided by the present invention adopts a double crank connecting rod structure, which ensures that the robot arm always maintains a vertical downward state when the first drive wheel rotates, and can move horizontally to pick leaves continuously.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the eccentric tobacco leaf picking device provided in an embodiment of the present invention.

[0028] Figure 2 yes Figure 1 A schematic diagram of the structure of the first and second drive wheels.

[0029] The attached figures are labeled as follows: 1. Fixed frame; 2. Servo motor; 3. First right-angle drive; 4. Second right-angle drive; 5. First drive wheel; 6. Second drive wheel; 7. Robotic arm; 8. Lifting device; 11. First fixed frame; 31. First drive shaft; 41. Second drive shaft; 51. Third drive shaft; 12. Second fixed frame; 71. First connecting arm; 72. Star wheel; 73. Connecting sleeve; 61. Rotating shaft; 62. Second connecting arm; 81. Lifting screw; 82. Handwheel. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] This invention discloses an eccentric tobacco leaf harvesting device, with reference to Figure 1 and Figure 2 The system includes a fixed frame 1, a servo motor 2, a first right-angle drive 3, a second right-angle drive 4, a first drive wheel 5, a second drive wheel 6, a robotic arm 7, and a lifting device 8. The servo motor 2 is located at the top center of the fixed frame 1. The first right-angle drive 3 is symmetrically arranged on both sides of the servo motor 2 and fixed to the top sides of the fixed frame 1 via a first fixing bracket 11. The first right-angle drive 3 is connected to the servo motor 2 via a first drive shaft 31. The second right-angle drive 4 is located below the first right-angle drive 3 and fixedly connected to the second fixing bracket 12. The second right-angle drive 4 is connected to the first right-angle drive 3 via a second drive shaft 41.

[0034] The first drive wheel 5 is fixed to one end of the third drive shaft 51, and the other end of the third drive shaft 51 is fixed to the second fixed frame 12 and connected to the second right-angle drive 4. The first drive wheel 5 rotates with the rotation of the third drive shaft 51. Multiple robotic arms 7 are arranged circumferentially on the first drive wheel 5. Each robotic arm 7 includes a first connecting arm 71 and a star wheel 72. The top of the star wheel 72 is provided with a pivotally connected connecting sleeve 73, which is fixedly connected to one end of the first connecting arm 71. The other end of the first connecting arm 71 is pivotally connected to the first drive wheel 5. The star wheel 72 can rotate freely horizontally without power. The first right-angle drive 3, the second right-angle drive 4, and the robotic arms 7 on both sides are symmetrically arranged and powered by the same servo motor 2. The star wheels 72 on both sides move synchronously, and the robotic arms 7 on both sides continuously pick tobacco leaves from top to bottom as the first drive wheel 5 rotates.

[0035] In one embodiment, the star wheel 72 has a star-shaped structure, the interior of the star wheel 72 is a steel plate structure, the exterior of the steel plate is covered with a rubber layer, and the thickness of the rubber layer exceeds two-thirds.

[0036] The first drive wheel 5 has three protrusions that extend outward at 120° intervals in the circumference, and the robotic arm 7 is respectively mounted on the three protrusions.

[0037] In one embodiment, the second drive wheel 6 is eccentrically fixed to a third transmission shaft 51 between the first drive wheel 5 and the second right-angle transmission 4. The second drive wheel 6 has the same number of rotating shafts 61 and second connecting arms 62 as the number of robotic arms 7. The rotating shafts 61 are pivotally connected to the second drive wheel 6. One end of the second connecting arm 62 is perpendicularly fixedly connected to the rotating shaft 61, and the other end of the second connecting arm 62 is perpendicularly fixedly connected to the end of the first connecting arm 71 that passes through the first drive wheel 5. The first drive wheel 5, the second drive wheel 6, and the second connecting arm 62 form a double-crank linkage mechanism, ensuring that the second connecting arm 62 is always in a translational state. Therefore, the first connecting arm 71, which is fixedly connected to the second connecting arm 62, is also always in a translational state, allowing the star wheel to always be in a horizontally freely rotatable state.

[0038] The lifting device 8 includes a lifting screw 81 and a handwheel 82. The top end of the lifting screw 81 is pivotally connected to the first fixed frame 11, and the bottom end of the lifting screw 81 is pivotally connected to the fixed frame 1. The lifting screw 81 passes through a threaded hole on the second fixed frame 12 and is threadedly connected to the second fixed frame 12. The handwheel 82 is located at the top end of the lifting screw 81, and rotating the handwheel 82 controls the lifting of the second fixed frame 12.

[0039] In one embodiment, the second drive shaft 41 is a hexagonal square shaft, extending downwards to be fixedly connected to the bottom of the fixed frame 1. The second right-angle actuator 4 is sleeved on the outside of the second drive shaft 41, and the second right-angle actuator 4 can move up and down on the second drive shaft 41.

[0040] The working principle of this invention is as follows: After the tobacco leaves mature, abscisic acid is produced at the junction of the stem and leaf, forming an abscission layer. Mechanical experiments have verified that this location is the optimal position for leaf picking, ensuring the leaf remains intact without leaving veins and without damaging the phloem of the stem. The actuating component, a star wheel with rubber fingers, extends into the angle between the stem and leaf, applying a downward force. Each picking unit has two sets of picking star wheels, with rubber fingers evenly distributed around the circumference of the star wheels. Each star wheel can rotate freely, maintaining good passability. During its movement, it completes the feeding, engagement, and separation processes. Utilizing the descending range of the cycloid to mimic manual leaf picking, it provides downward squeezing force to the actuating component, vertically pressing the base of the leaf vein to achieve tobacco leaf picking. The eccentric star wheel picking device mimics the action of human hand picking, picking leaves from the base with a horseshoe-shaped break, ensuring high leaf integrity and leaving no veins on the tobacco plant after picking.

[0041] Due to its eccentric structure, the drive wheel can harvest three times in one rotation, thus enabling the harvesting of a single tobacco plant in one rotation with a missed harvest rate of less than 10%. The number of leaves harvested per plant ranges from 2 to 4, with good stability. The relatively large distance between the star wheels ensures that the harvested tobacco leaves can be promptly removed from the harvesting star wheels, avoiding unnecessary damage. The tobacco leaf damage rate is as low as 7%, and the harvesting efficiency is as high as 95%. The progressive harvesting structure increases the harvesting frequency by 3 times and significantly improves the continuity of harvesting, which is the key to improving the tobacco leaf harvesting effect.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0043] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications and variations to the above embodiments within the scope of the present invention.

Claims

1. An eccentric tobacco leaf harvesting device, characterized in that, include Fixed frame; A servo motor is located at the top center of the fixed frame; The first right-angle drive is symmetrically arranged on both sides of the servo motor and fixed to the top two sides of the fixed frame by the first fixing bracket. The first right-angle drive is connected to the servo motor through the first drive shaft. The second right-angle actuator is respectively disposed below the first right-angle actuator and fixedly connected to the second fixed frame. The second right-angle actuator is connected to the first right-angle actuator through a second drive shaft. The first drive wheel is fixed to one end of the third drive shaft, the other end of the third drive shaft is fixed to the second fixed frame and is connected to the second right-angle drive. The first drive wheel rotates with the rotation of the third drive shaft. and The robotic arm comprises multiple robotic arms evenly distributed circumferentially on the first drive wheel. Each robotic arm includes a first connecting arm and a star wheel. The top of the star wheel is fixedly connected to one end of the first connecting arm, and the other end of the first connecting arm is pivotally connected to the first drive wheel. The star wheel itself can rotate freely horizontally without power. The first right-angle actuator, the second right-angle actuator, and the robotic arms on both sides are symmetrically arranged and powered by the same servo motor. The star wheels on both sides move synchronously, and the robotic arms on both sides continuously pluck tobacco leaves from top to bottom as the first drive wheel rotates. The star wheel has a star-shaped structure, with an internal steel plate structure and an external rubber layer covering the steel plate. The thickness of the rubber layer exceeds two-thirds of the total thickness. The first drive wheel has three protrusions that extend outward at 120° intervals around its circumference, and the robotic arm is respectively mounted on the three protrusions.

2. The eccentric tobacco leaf harvesting device according to claim 1, characterized in that, It also includes a second drive wheel, which is eccentrically fixed on a third drive shaft between the first drive wheel and the second right-angle transmission. The second drive wheel is provided with the same number of rotating shafts and second connecting arms as the number of the manipulators. The rotating shafts are pivotally connected to the second drive wheel. One end of the second connecting arm is perpendicularly fixedly connected to the rotating shaft, and the other end of the second connecting arm is perpendicularly fixedly connected to the end of the first connecting arm that passes through the first drive wheel.

3. The eccentric tobacco leaf harvesting device according to claim 1, characterized in that, It also includes a lifting device, which includes a lifting screw and a handwheel. The top end of the lifting screw is pivotally connected to the first fixed frame, and the bottom end of the lifting screw is pivotally connected to the fixed frame. The lifting screw passes through a threaded hole on the second fixed frame and is threadedly connected to the second fixed frame. The handwheel is located at the top end of the lifting screw, and rotating the handwheel controls the lifting of the second fixed frame.

4. The eccentric tobacco leaf harvesting device according to claim 1, characterized in that, The second drive shaft is a hexagonal square shaft, and the second drive shaft extends downward to be fixedly connected to the bottom of the fixed frame.

5. The eccentric tobacco leaf harvesting device according to claim 4, characterized in that, The second right-angle actuator is sleeved on the outside of the second drive shaft, and the second right-angle actuator can move up and down on the second drive shaft.

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