Automatic three-layer mulberry leaf picking device from top to bottom

Abstract

The invention discloses an automatic three-layer mulberry leaf picking device from top to bottom. The automatic three-layer mulberry leaf picking device comprises a transverse moving mechanism, a collecting mechanism, a picking mechanism and a clamping mechanism. The collecting mechanism, the picking mechanism and the clamping mechanism are each provided with a first lifting platform, a second lifting platform and a third lifting platform, the two sides of each lifting platform are each provided with a gear and rack mechanism, and the three lifting platforms are completely the same in structure and all connected with a lifting guide rail to achieve lifting. A collecting frame is mounted on a left lower rod piece and a right lower rod piece of the collecting mechanism, so that the mulberry leaves can be collected; when the three rod pieces of the picking mechanism are closed, the single-side steel needle plate and the double-side steel needle plate are matched with each other to form a plurality of cylindrical picking channels; a spring is arranged on a clamping assembly of the clamping mechanism, so that the clamping mechanism can clamp mulberry twigs of different shapes and sizes; the mulberry leaf picking equipment can realize picking and collection of full mulberry leaves of a single mulberry, and has a certain protection effect on mulberry branches.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a device for automatically picking three layers of mulberry leaves from top to bottom. Background Art

[0002] With the rapid development of the mulberry silk industry, the demand for mulberry leaves has surged. The factory-based and intelligent silkworm farming model has become a future development trend, and the mechanized picking of mulberry leaves is the key bottleneck restricting this model. Therefore, it is urgent to develop an automatic mulberry leaf picking device to meet the current development needs. The existing mulberry leaf picking device mainly uses a bottom-up method to cut the petiole of the mulberry leaves by a blade to complete the picking of mulberry leaves. However, during the picking process, the fallen mulberry leaves are easily accumulated on the blade, causing the blade to get stuck in the mulberry leaves, reducing the picking efficiency. In addition, the stuck mulberry leaves need to be manually cleaned and collected, which increases the labor intensity of the workers. Therefore, it is particularly important to improve the mulberry leaf picking mechanism and improve the efficiency of mulberry leaf picking. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems mentioned in the above background, and to provide a three-layer mulberry leaf automatic picking device from top to bottom. The device has a reasonable structure and strong feasibility, and can realize the picking and collection of all mulberry leaves of a single mulberry tree.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a three-layer mulberry leaf automatic picking device from top to bottom, including a transverse movement mechanism, a collecting mechanism, a picking mechanism, and a clamping mechanism; a No. 1 lifting platform, a No. 2 lifting platform, and a No. 3 lifting platform are respectively arranged on the collecting mechanism, the picking mechanism, and the clamping mechanism, and a gear rack mechanism is installed on both sides of each lifting platform. The three lifting platforms have exactly the same structure and are all based on four columns symmetrically installed perpendicular to the transverse movement mechanism, and are connected to the lifting guide rails through sliders to achieve lifting.

[0005] The gear rack mechanism comprises a gear and a rack. The rack is installed on two upright posts which are symmetrically installed perpendicular to the transverse movement mechanism. The gear and the rack are meshed with each other.

[0006] The collecting mechanism includes a No. 1 lifting platform, a lower left rod, a lower middle rod, a lower right rod, a branch-moving disc, a semicircular arch, a semicircular table, a collecting frame, and an electric push rod for the collecting frame; the No. 1 lifting platform includes a No. 1 U-shaped plate, a No. 1 lifting motor, a No. 1 synchronous belt, a No. 1 lifting shaft, a No. 1 vertical base, a No. 1 slider, a No. 1 lifting platform side plate, a No. 1 concave plate, a No. 1 cross roller bearing, a No. 1 electric push rod, a No. 1 pad plate and a No. 1 rod opening and closing assembly; the No. 1 lifting motor and the No. 1 vertical base are fixed on the No. 1 U-shaped plate, while the No. 1 lifting shaft is installed on the No. 1 vertical base, and a gear is installed at each end of the shaft, which is connected to the gear rack mechanism through the gear; through the No. 1 synchronous belt, the No. 1 lifting motor The machine drives the No. 1 lifting shaft to move; the No. 1 electric push rod and the No. 1 cushion plate are both installed on the No. 1 concave plate, and two No. 1 cross roller bearings are symmetrically installed on the No. 1 concave plate along the central axis, and the No. 1 rod opening and closing assembly is connected to the No. 1 electric push rod; the No. 1 U-shaped plate and the No. 1 concave plate are both fixed on the No. 1 lifting platform side plate, and are connected to the lifting guide rail through the No. 1 slider; the lower left rod and the lower right rod are installed on the No. 1 concave plate through the No. 1 cross roller bearing, and the lower middle rod is connected to the No. 1 concave plate through the No. 1 cushion plate; a semicircular arch and a semicircular table are respectively installed on the lower left rod, the lower middle rod and the lower right rod, and a collection frame and a collection frame electric push rod are respectively installed on the lower left rod and the lower right rod.

[0007] The picking mechanism includes a No. 2 lifting platform, a left rod, a middle rod, a right rod, a single-sided steel needle plate, a double-sided steel needle plate, a lifting plate, a lifting rod, a lifting electric push rod, and a guide rod; the No. 2 lifting platform includes a No. 2 U-shaped plate, a No. 2 lifting motor, a No. 2 synchronous belt, a No. 2 lifting shaft, a No. 2 vertical base, a No. 2 slider, a No. 2 lifting platform side plate, a No. 2 concave plate, a No. 2 cross roller bearing, a No. 2 electric push rod, a No. 2 pad plate, and a No. 2 rod opening and closing assembly; the No. 2 lifting motor and the No. 2 vertical base are fixed on the No. 2 U-shaped plate, while the No. 2 lifting shaft is installed on the No. 2 vertical base, and a gear is installed at each end of the shaft, which is connected to the gear rack mechanism through the gear; through the No. 2 synchronous belt, the No. 2 lifting motor drives the No. 2 lifting shaft to move; the No. 2 electric push rod and the No. 2 pad plate are both installed on the No. 2 concave plate, and Two No. 2 cross roller bearings are symmetrically installed on the No. 2 concave plate along the central axis, and the No. 2 rod opening and closing assembly is connected to the No. 2 electric push rod; the No. 2 U-shaped plate and the No. 2 concave plate are fixed on the No. 2 lifting platform side plate, and are connected to the lifting guide rail through the No. 2 slider; the left rod and the right rod are installed on the No. 2 concave plate through the No. 2 cross roller bearings, and the middle rod is connected to the No. 2 concave plate through the No. 2 pad plate; a semicircular table, a lifting electric push rod and two guide rods are installed on the left rod, the middle rod and the right rod, and steel needle holes are provided on the rods; the single-sided steel needle plate is installed on the left rod and the right rod through the guide rod and the steel needle hole, and the double-sided steel needle plate is installed on the middle rod through the guide rod and the steel needle hole; the single-sided steel needle plate and the double-sided steel needle plate are equipped with lifting plates, and the lifting plates are connected to the lifting electric push rod.

[0008] The clamping mechanism includes a No. 3 lifting platform, an upper left rod, an upper middle rod, an upper right rod, a clamping assembly, and a baffle; the No. 3 lifting platform includes a No. 3 U-shaped plate, a No. 3 lifting motor, a No. 3 synchronous belt, a No. 3 lifting shaft, a No. 3 vertical base, a No. 3 slider, a No. 3 lifting platform side plate, a No. 3 concave plate, a No. 3 cross roller bearing, a No. 3 electric push rod, a No. 3 pad plate, and a No. 3 rod opening and closing assembly; the No. 3 lifting motor and the No. 3 vertical base are fixed on the No. 3 U-shaped plate, while the No. 3 lifting shaft is installed on the No. 3 vertical base, and a gear is installed at each end of the shaft, which is connected to the gear rack mechanism through the gear; through the No. 3 synchronous belt, the No. 3 lifting motor drives the No. 3 lifting shaft to move; the No. 3 electric push rod and the No. 3 No. 3 raising plates are all installed on the No. 3 concave plate, and two No. 3 cross roller bearings are symmetrically installed on the No. 3 concave plate along the central axis, and the No. 3 rod opening and closing assembly is connected to the No. 3 electric push rod; No. 3 U-shaped plate and No. 3 concave plate are all fixed on the No. 3 lifting platform side plate, and are connected to the lifting guide rail through No. 3 slider; the upper left rod and the upper right rod are installed on the No. 3 concave plate through No. 3 cross roller bearings, and the middle upper rod is connected to the No. 3 concave plate through No. 3 raising plates; a semicircular table is installed at the end of the upper left rod, the middle upper rod and the upper right rod, and a baffle is installed on the side, the upper left rod and the upper right rod are each installed with four clamping assemblies, and the middle upper rod is symmetrically installed with eight clamping assemblies along the central axis.

[0009] Furthermore, the collection frame includes a collection frame rectangular plate, a metal hinge, a collection frame bottom plate, a collection frame trapezoidal plate, a slide groove, a slide groove lever and a collection frame mounting plate; the collection frame rectangular plate and the collection frame trapezoidal plate are both fixed on the collection frame mounting plate, and the collection frame mounting plate is installed on the lower left rod and the lower right rod; the collection frame bottom plate is connected to the collection frame rectangular plate through a metal hinge, and a slide groove is provided underneath, and the slide groove is connected to the collection frame electric push rod through the slide groove lever.

[0010] Furthermore, four semicircular holes are provided on the right side of the front end of the left rod and on the left side of the front end of the right rod of the collecting mechanism, and four semicircular holes are provided on both sides of the front end of the middle rod, which cooperate with each other to form multiple positioning channels, which is convenient for fixing the position of the mulberry branches during operation. The branch-moving disc on the middle and lower rod and the middle and upper rod of the clamping mechanism can move each mulberry branch to a corresponding positioning channel, avoiding the situation where multiple mulberry branches are in one positioning channel, which is convenient for subsequent picking operations.

[0011] Furthermore, a single-sided steel needle plate is respectively provided on the left rod and the right rod, and a double-sided steel needle plate is provided on the middle rod. When the three rods are closed, the single-sided steel needle plate and the double-sided steel needle plate cooperate with each other to form a plurality of cylindrical picking channels. During the picking operation, the steel needles on the steel needle plates will string the mulberry leaves together. At the end of picking, the upward movement of the lifting electric push rod will drive the steel needle plates to move upward. Under the squeezing of the rods of the picking mechanism, the mulberry leaves on the steel needles will automatically fall into the collecting mechanism, avoiding the occurrence of leaf jamming. At the same time, because the distance from the steel needle plate to the collecting mechanism is shorter at this time, the mulberry leaves cannot fly around and are concentrated in the collecting mechanism, thereby improving the collection rate of mulberry leaves.

[0012] Furthermore, the clamping assembly includes a spring column, a spring, a clamping plate, a rubber plate and a nut. A rubber plate is installed on the clamping plate. Two spring columns are fixed at both ends of the rubber plate. Springs are installed on the spring columns. The elastic design of the springs effectively enhances the clamping force and adaptability. The spring is tightly connected to the clamping plate through the nut at its end, so that the clamping plate can move flexibly left and right; the clamping plate is connected to the upper left rod, the upper middle rod and the upper right rod through the spring column, thereby forming a linkage system. While increasing the stability of the clamping process, it can also adapt to mulberry branches of different shapes and sizes, greatly improving the flexibility and practicality of the picking device.

[0013] Furthermore, the No. 1 rod member opening and closing assembly includes a No. 1 cylindrical pin, a No. 1 connecting groove, a No. 1 push rod head connecting plate and a No. 1 push rod head; a No. 1 push rod head connecting plate is installed on the push rod head, two No. 1 connecting grooves are provided on the connecting plate, and a No. 1 cylindrical pin is connected in each groove, and these cylindrical pins are respectively connected to the lower left rod member and the lower right rod member, and the No. 1 rod member opening and closing assembly is connected to the No. 1 electric push rod through the No. 1 push rod head.

[0014] Furthermore, the No. 2 rod member opening and closing assembly includes a No. 2 cylindrical pin, a No. 2 connecting groove, a No. 2 push rod head connecting plate and a No. 2 push rod head; the push rod head is equipped with a No. 2 push rod head connecting plate, two No. 2 connecting grooves are provided on the connecting plate, and a No. 2 cylindrical pin is connected to each groove, and these cylindrical pins are respectively connected to the left rod member and the right rod member, and the No. 2 rod member opening and closing assembly is connected to the No. 2 electric push rod through the No. 2 push rod head.

[0015] Furthermore, the No. 3 rod member opening and closing assembly includes a No. 3 cylindrical pin, a No. 3 connecting groove, a No. 3 push rod head connecting plate and a No. 3 push rod head; the push rod head is equipped with a No. 3 push rod head connecting plate, two No. 3 connecting grooves are provided on the connecting plate, and a No. 3 cylindrical pin is connected in each groove, and these cylindrical pins are respectively connected to the upper left rod member and the upper right rod member, and the No. 3 rod member opening and closing assembly is connected to the No. 3 electric push rod through the No. 3 push rod head.

[0016] The beneficial effect is that, compared with the prior art, the present invention has the following advantages:

[0017] 1. A lifting electric push rod is arranged under each of the three rods of the above-mentioned picking mechanism. When picking is finished, the upward movement of the lifting electric push rod will drive the steel needle plate to move upward. Under the squeezing of the rods of the picking mechanism, the mulberry leaves on the steel needles will automatically fall into the collecting mechanism, thus avoiding the occurrence of leaf jamming, improving the picking rate of mulberry leaves, eliminating the manual cleaning process, and reducing labor intensity. At the same time, since the distance from the steel needle plate to the collecting mechanism is shorter at this time, the mulberry leaves cannot fly around but are concentrated in the collecting mechanism, thus improving the collection rate of mulberry leaves.

[0018] 2. A plurality of rotatable branch-moving discs are provided under the middle and lower rods of the above-mentioned collecting mechanism and the middle and upper rods of the clamping mechanism, so as to facilitate moving each mulberry branch into a corresponding positioning hole, avoid the situation where multiple mulberry branches are in one positioning hole, and facilitate subsequent picking operations; the bottom plate of the collecting frame is movable, and is opened and closed by the electric push rod and metal hinge of the collecting frame, so as to facilitate the transfer of mulberry leaves in the collecting frame to other collecting mechanisms.

[0019] 3. A rubber plate is provided on the clamping plate in the above-mentioned clamping assembly, and a spring is installed on the spring column, which not only improves the overall clamping efficiency, but also ensures the protection of mulberry branches and reduces damage during the mulberry leaf picking process. At the same time, the clamping assembly can adapt to mulberry branches of different shapes and sizes, greatly improving the flexibility and practicality of the picking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a three-dimensional diagram of a three-layer mulberry leaf automatic picking device from top to bottom.

[0021] Figure 2 It is a structural diagram of the collection mechanism of the present invention.

[0022] Figure 3 It is a structural diagram of the collection frame of the present invention.

[0023] Figure 4 The present invention is a structural diagram of a picking mechanism without the single-sided steel needle plate on the right rod.

[0024] Figure 5 It is a structural diagram of a single-sided steel needle plate of the picking mechanism of the present invention.

[0025] Figure 6 It is a structural diagram of the double-sided steel needle plates of the picking mechanism of the present invention.

[0026] Figure 7 It is a structural diagram of the clamping mechanism of the present invention.

[0027] Figure 8 It is a structural diagram of the clamping assembly of the clamping mechanism of the present invention.

[0028] Fig. 9 It is a structural diagram of the upper layer of the No. 1 lifting platform of the present invention.

[0029] Fig.10 This is a structural diagram of the lower layer of the No. 1 lifting platform of the present invention.

[0030] Fig.11 It is a structural diagram of the upper layer of the No. 2 lifting platform of the present invention.

[0031] Fig.12 It is a structural diagram of the lower layer of the No. 2 lifting platform of the present invention.

[0032] Fig.13 It is a structural diagram of the upper layer of the third lifting platform of the present invention.

[0033] Fig.14 It is a structural diagram of the lower layer of the No. 3 lifting platform of the present invention.

[0034] Fig.15 It is a partial enlarged view of the connection between the rod member of the present invention and the lower layer of the lifting platform.

[0035] Fig.16 It is a structural diagram of the gear rack mechanism of the present invention.

[0036] In the figure: 1. Transverse movement mechanism; 2. Collecting mechanism; 3. Picking mechanism; 4. Clamping mechanism; 6. Gear rack mechanism; 61. Gear; 62. Rack; 20. Lower left rod; 21. Middle lower rod; 22. Lower right rod; 23. Branch-moving disc; 24. Semicircular arch; 25. Semicircular table; 26. Collecting frame; 260. Rectangular plate of collecting frame; 261. Metal hinge; 262. Bottom plate of collecting frame; 263. Trapezoidal plate of collecting frame; 264. Slide; 265. Slide lever; 266. Mounting plate of collecting frame; 27. Electric push rod of collecting frame; 28. Semicircular hole; 30. Left rod; 31. Middle rod; 32. Right rod; 33. Single-sided steel needle plate; 34. Double-sided steel needle plate; 35. Lifting plate; 36, lifting rod; 37, lifting electric push rod; 38, guide rod; 39, steel needle; 390, steel needle hole; 40, upper left rod; 41, middle upper rod; 42, upper right rod; 43, clamping assembly; 430, spring column; 431, spring; 432, clamping plate; 433, rubber plate; 434, nut; 44, baffle; 51, lifting platform No. 1; 5100, No. 1 U-shaped plate; 5101, No. 1 lifting motor; 5102, No. 1 synchronous belt; 5103, No. 1 lifting shaft; 5104, No. 1 vertical base; 5105, No. 1 slider; 5106, No. 1 lifting platform side plate; 5110, No. 1 concave plate; 5111, No. 1 cross roller bearing; 5112, No. No. 1 electric push rod; 5113, No. 1 pad plate; 512, No. 1 rod opening and closing assembly; 5120, No. 1 cylindrical pin; 5121, No. 1 connecting groove; 5122, No. 1 push rod head connecting plate; 5123, No. 1 push rod head; 52, No. 2 lifting platform; 5200, No. 2 U-shaped plate; 5201, No. 2 lifting motor; 5202, No. 2 synchronous belt; 5203, No. 2 lifting shaft; 5204, No. 2 vertical base; 5205, No. 2 slider; 5206, No. 2 lifting platform side plate; 5210, No. 2 concave plate; 5211, No. 2 cross roller bearing; 5212, No. 2 electric push rod; 5213, No. 2 pad plate; 522, No. 2 rod opening and closing assembly; 5220, No. 2 round Column pin; 5221, No. 2 connecting groove; 5222, No. 2 push rod head connecting plate; 5223, No. 2 push rod head; 53, No. 3 lifting platform; 5300, No. 3 U-shaped plate; 5301, No. 3 lifting motor; 5302, No. 3 synchronous belt; 5303, No. 3 lifting shaft; 5304, No. 3 vertical base; 5305, No. 3 slider; 5306, No. 3 lifting platform side plate; 5310, No. 3 concave plate; 5311, No. 3 cross roller bearing; 5312, No. 3 electric push rod; 5313, No. 3 pad plate; 532, No. 3 rod opening and closing assembly; 5320, No. 3 cylindrical pin; 5321, No. 3 connecting groove; 5322, No. 3 push rod head connecting plate; 5323, No. 3 push rod head. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the examples of the present invention to clearly and concisely describe the technical solutions in the embodiments of the present invention. The described examples are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] like Figure 1 As shown, a three-layer automatic mulberry leaf picking device from top to bottom includes a transverse movement mechanism 1, a collecting mechanism 2, a picking mechanism 3, and a clamping mechanism 4; the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 are respectively installed on the first lifting platform 51, the second lifting platform 52, and the third lifting platform 53, and a gear rack mechanism 6 is installed on both sides of each lifting platform. The three lifting platforms have exactly the same structure and are all based on four columns symmetrically installed perpendicular to the transverse movement mechanism 1, and are connected to the lifting guide rails through sliders to achieve lifting.

[0039] like Fig.16 As shown, the gear rack mechanism 6 includes a gear 61 and a rack 62. The rack 62 is installed on two columns symmetrically installed perpendicular to the transverse movement mechanism, and the gear 61 and the rack 62 are meshed with each other.

[0040] like Figure 2 , Figure 3 , Fig. 9 , Fig.10 and Fig.15As shown, the collecting mechanism 2 includes a No. 1 lifting platform 51, a lower left rod 20, a lower middle rod 21, a lower right rod 22, a branch-moving disc 23, a semicircular arch 24, a semicircular platform 25, a collecting frame 26, and a collecting frame electric push rod 27; the No. 1 lifting platform 51 includes a No. 1 U-shaped plate 5100, a No. 1 lifting motor 5101, a No. 1 synchronous belt 5102, a No. 1 lifting shaft 5103, a No. 1 vertical base 5104, a No. 1 slider 5105, a No. 1 lifting platform side plate 5106, The first concave plate 5110, the first cross roller bearing 5111, the first electric push rod 5112, the first pad plate 5113 and the first rod opening and closing assembly 512; the first lifting motor 5101 and the first vertical base 5104 are fixed on the first U-shaped plate 5100, and the first lifting shaft 5103 is installed on the first vertical base 5104, and a gear 61 is installed at each end of the shaft, which is connected to the gear rack mechanism 6 through the gear 61; through the first synchronous belt 5102, the first lifting motor 5101 and the first vertical base 5104 are fixed on the first U-shaped plate 5100, and the first lifting shaft 5103 is installed on the first vertical base 5104. The No. 1 lifting motor 5101 drives the No. 1 lifting shaft 5103 to move; the No. 1 electric push rod 5112 and the No. 1 pad plate 5113 are both installed on the No. 1 concave plate 5110, and two No. 1 cross roller bearings 5111 are symmetrically installed on the No. 1 concave plate 5110 along the central axis, and the No. 1 rod opening and closing assembly 512 is connected to the No. 1 electric push rod 5112; the No. 1 U-shaped plate 5100 and the No. 1 concave plate 5110 are both fixed on the No. 1 lifting platform side plate 5106 and connected by the No. 1 slide Block 5105 is connected to the lifting guide rail; the lower left rod 20 and the lower right rod 22 are installed on the No. 1 concave plate 5110 through the No. 1 cross roller bearing 5111, and the lower middle rod 21 is connected to the No. 1 concave plate 5110 through the No. 1 cushion plate 5113; a semicircular arch 24 and a semicircular platform 25 are respectively installed on the lower left rod 20, the lower middle rod 21 and the lower right rod 22, and a collection frame 26 and a collection frame electric push rod 27 are respectively installed on the lower left rod 20 and the lower right rod 22.

[0041] like Figure 4 , Figure 5 , Figure 6 , Fig.11 , Fig.12 and Fig.15As shown, the picking mechanism 3 includes a No. 2 lifting platform 52, a left rod 30, a middle rod 31, a right rod 32, a single-sided steel needle plate 33, a double-sided steel needle plate 34, a lifting plate 35, a lifting rod 36, a lifting electric push rod 37, and a guide rod 38; the No. 2 lifting platform 52 includes a No. 2 U-shaped plate 5200, a No. 2 lifting motor 5201, a No. 2 synchronous belt 5202, a No. 2 lifting shaft 5203, a No. 2 vertical base 5204, a No. 2 slider 5205, a No. 2 lifting platform side plate 5206, a No. 2 concave plate 5210, and a No. 2 cross roller bearing 5211 , No. 2 electric push rod 5212, No. 2 pad plate 5213 and No. 2 rod opening and closing assembly 522; No. 2 lifting motor 5201 and No. 2 vertical base 5204 are fixed on No. 2 U-shaped plate 5200, and No. 2 lifting shaft 5203 is installed on No. 2 vertical base 5204, and each end of the shaft is equipped with a gear 61, which is connected to the gear rack mechanism 6 through the gear 61; Through the No. 2 synchronous belt 5202, the No. 2 lifting motor 5201 drives the No. 2 lifting shaft 5203 to move; No. 2 electric push rod 5212 and No. 2 pad plate 5213 are installed On the second concave plate 5210, two second cross roller bearings 5211 are symmetrically installed on the second concave plate 5210 along the central axis, and the second rod opening and closing assembly 522 is connected to the second electric push rod 5212; the second U-shaped plate 5200 and the second concave plate 5210 are fixed on the second lifting platform side plate 5206, and are connected to the lifting guide rail through the second slider 5205; the left rod 30 and the right rod 32 are installed on the second concave plate 5210 through the second cross roller bearing 5211, and the middle rod 31 is connected to the second through the second pad plate 5213. The left rod 30, the middle rod 31 and the right rod 32 are connected with concave plate 5210; a semicircular table 25, a lifting electric push rod 37 and two guide rods 38 are installed on each of the left rod 30, the middle rod 31 and the right rod 32, and a steel needle hole 390 is provided on each of the rods; the single-sided steel needle plate 33 is installed on the left rod 30 and the right rod 32 through the guide rod 38 and the steel needle hole 390, while the double-sided steel needle plate 34 is installed on the middle rod 31 through the guide rod 38 and the steel needle hole 390; a lifting plate 35 is provided on each of the single-sided steel needle plate 33 and the double-sided steel needle plate 34, and the lifting plate 35 is connected with the lifting electric push rod 37.

[0042] like Figure 7 , Figure 8 , Fig.13 , Fig.14 and Fig.15As shown, the clamping mechanism 4 includes a No. 3 lifting platform 53, a left upper rod 40, a middle upper rod 41, a right upper rod 42, a clamping assembly 43, and a baffle 44; the No. 3 lifting platform 53 includes a No. 3 U-shaped plate 5300, a No. 3 lifting motor 5301, a No. 3 synchronous belt 5302, a No. 3 lifting shaft 5303, a No. 3 vertical base 5304, a No. 3 slider 5305, a No. 3 lifting platform side plate 5306, a No. 3 concave plate 5310, a No. 3 cross roller bearing 5311, and a No. 3 The third electric push rod 5312, the third pad plate 5313 and the third rod opening and closing assembly 532; the third lifting motor 5301 and the third vertical base 5304 are fixed on the third U-shaped plate 5300, and the third lifting shaft 5303 is installed on the third vertical base 5304, and a gear 61 is installed at each end of the shaft, which is connected to the gear rack mechanism 6 through the gear 61; the third lifting motor 5301 drives the third lifting shaft 5303 to move through the third synchronous belt 5302 ; The No. 3 electric push rod 5312 and the No. 3 pad plate 5313 are both installed on the No. 3 concave plate 5310, and the two No. 3 cross roller bearings 5311 are symmetrically installed on the No. 3 concave plate 5310 along the central axis; the No. 3 rod opening and closing assembly 532 is connected to the No. 3 electric push rod 5312; the No. 3 U-shaped plate 5300 and the No. 3 concave plate 5310 are both fixed on the No. 3 lifting platform side plate 5306, and are connected to the lifting guide rail through the No. 3 slider 5305; the upper left rod 40 and the upper right The rod 42 is installed on the No. 3 concave plate 5310 through the No. 3 cross roller bearing 5311, and the middle upper rod 41 is connected to the No. 3 concave plate 5310 through the No. 3 pad plate 5313; a semicircular table 25 is installed at the end of the upper left rod 40, the upper middle rod 41 and the upper right rod 42, and a baffle 44 is installed on the side, the upper left rod 40 and the upper right rod 42 are respectively installed with four clamping assemblies 43, and the middle upper rod 41 has eight clamping assemblies 43 installed symmetrically along the central axis.

[0043] Furthermore, the collection frame 26 includes a collection frame rectangular plate 260, a metal hinge 261, a collection frame bottom plate 262, a collection frame trapezoidal plate 263, a slide groove 264, a slide groove lever 265 and a collection frame mounting plate 266; the collection frame rectangular plate 260 and the collection frame trapezoidal plate 263 are both fixed on the collection frame mounting plate 266, and the collection frame mounting plate 266 is installed on the lower left rod 20 and the lower right rod 22; the collection frame bottom plate 262 is connected to the collection frame rectangular plate 260 through a metal hinge 261, and a slide groove 264 is provided at the bottom, which is connected to the collection frame electric push rod 27 through the slide groove lever 265.

[0044] Furthermore, four semicircular holes 28 are provided on the right side of the front end of the left rod 30 and on the left side of the front end of the right rod 32, and four semicircular holes 28 are provided on both sides of the front end of the middle rod 31 symmetrically, which cooperate with each other to form multiple positioning channels, which is convenient for fixing the position of the mulberry branches during operation. The branch-moving disc 23 on the middle-lower rod 21 and the middle-upper rod 41 can move each mulberry branch to a corresponding positioning channel, avoiding the situation where multiple mulberry branches are in one positioning channel, which is convenient for subsequent picking operations.

[0045] Furthermore, a single-sided steel needle plate 33 is respectively provided on the left rod 30 and the right rod 32, and a double-sided steel needle plate 34 is provided on the middle rod 31. When the three rods are closed, the single-sided steel needle plate 33 and the double-sided steel needle plate 34 cooperate with each other to form a plurality of cylindrical picking channels; during the picking operation, the steel needles 39 on the steel needle plates will string the mulberry leaves together. At the end of picking, the upward movement of the lifting electric push rod 37 will drive the steel needle plates to move upward. Under the squeezing of the rods of the picking mechanism, the mulberry leaves on the steel needles 39 will automatically fall into the collecting mechanism 2, avoiding the occurrence of leaf jamming; at the same time, because the distance from the steel needle plate to the collecting mechanism is shorter at this time, the mulberry leaves cannot fly around and are concentrated in the collecting mechanism, thereby improving the collection rate of mulberry leaves.

[0046] Furthermore, the clamping assembly 43 includes a spring column 430, a spring 431, a clamping plate 432, a rubber plate 433 and a nut 434. A rubber plate 433 is installed on the clamping plate 432. Two spring columns 430 are fixed at both ends of the rubber plate 433. Springs 431 are installed on the spring columns 430. The elastic design of the spring 431 effectively enhances the clamping force and adaptability. The spring 431 is tightly connected to the clamping plate 432 through the nut 434 at its end, so that the clamping plate 432 can move flexibly left and right; the clamping plate 432 is connected to the upper left rod 40, the upper middle rod 41 and the upper right rod 42 through the spring column 430, thereby forming a linkage system. While increasing the stability of the clamping process, it can also adapt to mulberry branches of different shapes and sizes, greatly improving the flexibility and practicality of the picking device.

[0047] Furthermore, the No. 1 rod opening and closing assembly 512 includes a No. 1 cylindrical pin 5120, a No. 1 connecting groove 5121, a No. 1 push rod head connecting plate 5122 and a No. 1 push rod head 5123; the No. 1 push rod head connecting plate 5122 is installed on the No. 1 push rod head 5123, and two No. 1 connecting grooves 5121 are provided on the connecting plate, and a No. 1 cylindrical pin 5120 is connected in each groove, and these cylindrical pins are respectively connected to the lower left rod 20 and the lower right rod 22, and the No. 1 rod opening and closing assembly 512 is connected to the No. 1 electric push rod 5112 through the No. 1 push rod head 5123.

[0048] Furthermore, the No. 2 rod member opening and closing assembly 522 includes a No. 2 cylindrical pin 5220, a No. 2 connecting groove 5221, a No. 2 push rod head connecting plate 5222 and a No. 2 push rod head 5223; the No. 2 push rod head 5223 is equipped with a No. 2 push rod head connecting plate 5222, two No. 2 connecting grooves 5221 are provided on the connecting plate, and a No. 2 cylindrical pin 5220 is connected to each groove, and these cylindrical pins are respectively connected to the lower left rod member 20 and the lower right rod member 22, and the No. 2 rod member opening and closing assembly 522 is connected to the No. 2 electric push rod 5212 through the No. 2 push rod head 5223.

[0049] Furthermore, the No. 3 rod member opening and closing assembly 532 includes a No. 3 cylindrical pin 5320, a No. 3 connecting groove 5321, a No. 3 push rod head connecting plate 5322 and a No. 3 push rod head 5323; the No. 3 push rod head connecting plate 5322 is installed on the No. 3 push rod head 5323, and two No. 3 connecting grooves 5321 are provided on the connecting plate, and a No. 3 cylindrical pin 5320 is connected in each groove, and these cylindrical pins are respectively connected to the lower left rod member 20 and the lower right rod member 22, and the No. 3 rod member opening and closing assembly 532 is connected to the No. 3 electric push rod 5312 through the No. 3 push rod head 5323.

[0050] When the mulberry leaf picking device of the present invention is in use, the starting positions of the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 are all at the bottom of the lifting guide rail, and a single picking cycle requires eight strokes.

[0051] Stroke 1: Push forward to insert branches. The No. 1 electric push rod 5112, the No. 2 electric push rod 5212 and the No. 3 electric push rod 5312 retract, and the No. 1 rod opening and closing assembly 512, the No. 2 rod opening and closing assembly 522 and the No. 3 rod opening and closing assembly 532 respectively drive the rods on the left and right sides of the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 to open; at the same time, the transverse mechanism 1 pushes the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 to move forward as a whole, and the rods in the middle of the three devices are inserted into the gap of the mulberry branch at the bottom of the mulberry tree, and the rods on the left and right sides of the three devices are respectively located on the left and right sides of the mulberry branch.

[0052] Stroke 2: Gathering branches. The No. 1 electric push rod 5112 is pushed forward, and the No. 1 rod opening and closing assembly 512 drives the left lower rod 20 and the right lower rod 22 of the collecting mechanism 2 to close; the front ends of the three rods of the collecting mechanism 2 pass through the mulberry tree, and gather the scattered branches into a plurality of cylindrical picking channels formed by the single-sided steel needle plate 33 and the double-sided steel needle plate 34.

[0053] Stroke 3: The picking mechanism 3 and the clamping mechanism 4 rise. The third lifting motor 5301 drives the third lifting platform 53 to drive the clamping mechanism 4 to rise to a suitable position for clamping; at the same time, the second lifting motor 5201 drives the second lifting platform 52 to drive the picking mechanism 3 to rise to a suitable position for picking.

[0054] Stroke 4: Branch clamping. The No. 2 electric push rod 5212 pushes forward, and the No. 2 rod opening and closing assembly 522 drives the left rod 30 and the right rod 32 of the picking mechanism 3 to close; at the same time, the No. 3 electric push rod 5312 pushes forward, and the No. 3 rod opening and closing assembly 532 drives the upper left rod 40 and the upper right rod 42 of the clamping mechanism 4 to close, and the top mulberry branch of the mulberry tree is clamped by the clamping assembly 43 to complete the branch clamping.

[0055] Journey 5: Picking mulberry leaves. The second lifting motor 5201 drives the second lifting platform 52 to move downward, driving the picking mechanism 3 to move downward, and the mulberry leaf picking work begins.

[0056] Stroke 6: Branch withdrawal. The No. 1 electric push rod 5112, the No. 2 electric push rod 5212 and the No. 3 electric push rod 5312 retract, and the No. 1 rod opening and closing assembly 512, the No. 2 rod opening and closing assembly 522 and the No. 3 rod opening and closing assembly 532 respectively drive the rods on the left and right sides of the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 to open; then, the transverse movement mechanism 1 pushes the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 to move backward as a whole and separate from the mulberry branches.

[0057] Stroke seven: releasing leaves. The first electric push rod 5112, the second electric push rod 5212 and the third electric push rod 5312 are pushed forward, and the first rod opening and closing assembly 512, the second rod opening and closing assembly 522 and the third rod opening and closing assembly 532 drive the rods on the left and right sides of the collecting mechanism 2, the picking mechanism 3 and the clamping mechanism 4 to close respectively; the lifting electric push rod 37 drives the single-side steel needle plate 33 and the double-side steel needle plate 34 to move upward, and under the squeezing action of the left rod 30, the middle rod 31 and the right rod 32, the mulberry leaves on the steel needles 39 automatically fall into the collecting frame 26, completing the collection of the mulberry leaves.

[0058] Stroke 8: Return to the starting point. The second lifting motor 5201 drives the second lifting platform 52 to drive the picking mechanism 3 to descend to the initial position. At the same time, the third lifting motor 5301 drives the third lifting platform 53 to drive the clamping mechanism 4 to descend to the initial position, thus completing a single picking operation.

[0059] The above embodiments are only used to illustrate the technical solution of the present invention and are not intended to limit it. Any modification or equivalent substitution that does not deviate from the spirit and scope of the present invention shall be included in the scope of the technical solution of the present invention. The object of the present invention is to solve one of the technical problems mentioned in the above background, and to provide a three-layer automatic mulberry leaf picking device from top to bottom, which has a reasonable structure and strong feasibility, and can realize the picking and collection of all mulberry leaves of a single mulberry tree.

Claims

1. A three-layer mulberry leaf automatic picking device from top to bottom, characterized by: The invention comprises a transverse movement mechanism (1), a collecting mechanism (2), a picking mechanism (3), and a clamping mechanism (4); the collecting mechanism (2), the picking mechanism (3), and the clamping mechanism (4) are all based on four upright posts symmetrically installed perpendicular to the transverse movement mechanism (1), and are connected to the lifting guide rails via sliders; a gear rack mechanism (6) is installed on both sides of the collecting mechanism (2), the picking mechanism (3), and the clamping mechanism (4); the collecting mechanism (2) comprises a first lifting platform (51), a lower left rod (20), a lower middle rod (21), a lower right rod (22), a collecting frame (26), and an electric push rod (27) for the collecting frame; the first lifting platform (51) is based on four columns symmetrically installed perpendicular to the transverse movement mechanism (1), and is connected to the lifting guide rail through a slider. A gear rack mechanism (6) is installed on both sides of the first lifting platform (51). A collection frame (26) and a collection frame electric push rod (27) are installed on the left lower rod (20) and the right lower rod (22). The collection frame (26) is connected to the collection frame electric push rod (27) through a slide slot lever (265); the picking mechanism (3) includes a second lifting platform (52), a left rod (30), a middle rod (31), a right rod (32), a single-sided steel needle plate (33), a double-sided steel needle plate (34) ), guide rod (38), the second lifting platform (52) is based on four columns symmetrically installed perpendicular to the transverse movement mechanism (1), and is connected to the lifting guide rail through a slider. A gear rack mechanism (6) is installed on each side of the second lifting platform (52), a single-sided steel needle plate (33) is installed on the left rod (30) and the right rod (32), and a double-sided steel needle plate (34) is installed on the middle rod (31). The single-sided steel needle plate (33) and the double-sided steel needle plate (34) are both provided with a lifting plate (35), and the lifting plate (35) is connected to the lifting electric push rod (37). The left rod (30), the right rod (32) and the middle rod The components (31) are each provided with two guide rods; the clamping mechanism (4) comprises a third lifting platform (53), a left upper rod (40), a middle upper rod (41), a right upper rod (42), and a clamping assembly (43); the third lifting platform (53) is based on four columns symmetrically installed perpendicular to the transverse mechanism (1) and is connected to the lifting guide rail via a slide block; a gear rack mechanism (6) is installed on each side of the third lifting platform (53); four clamping assemblies (43) are installed on the right side of the left upper rod (40) and on the left side of the right upper rod (42); and eight clamping assemblies (43) are symmetrically installed on the middle upper rod (41) along the central axis.

2. A three-layer mulberry leaf automatic picking device from top to bottom according to claim 1, characterized in that: Four semicircular holes (29) are provided on the right side of the front end of the left rod (30) and on the left side of the front end of the right rod (32); four semicircular holes (29) are symmetrically provided on both sides of the front end of the middle rod (31); and a plurality of steel needle holes (390) are evenly distributed on the edge of each semicircular hole (29); steel needles (39) of the same size are evenly distributed on the single-sided steel needle plate (33) and the double-sided steel needle plate (34); and the distribution method and number of the steel needles (39) are consistent with those of the steel needle holes (390).

3. A three-layer mulberry leaf automatic picking device from top to bottom according to claim 1, characterized in that: The clamping assembly (43) comprises a spring column (430), a spring (431), a clamping plate (432), a rubber plate (433) and a nut (434); a rubber plate (433) is mounted on the clamping plate (432); two spring columns (430) are fixed at both ends of the rubber plate (433); a spring (431) is mounted on the spring column (430); the spring (431) is tightly connected to the clamping plate (432) via a nut (434) at its end; the clamping plate (432) is connected to the upper left rod (40), the upper middle rod (41) and the upper right rod (42) via the spring column (430); six branch-moving discs (23) are symmetrically mounted along the central axis below the lower middle rod (21) and the upper middle rod (41); the branch-moving discs (23) have a hole in the middle and are connected to the lower middle rod (21) and the upper middle rod (41) via bolts.

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