Mulberry leaf picking machine

Abstract

A lead screw pair is installed on a fixing base, a lead screw of the lead screw pair vertically extends downwards, leaf picking handles are installed on a nut of the lead screw pair in pairs, a reset spring is arranged between the two leaf picking handles, slide carriages are installed on the two outer side walls of the fixing base, and wedge-shaped faces extending outwards are arranged on the inner sides of the bottoms of the slide carriages. A rotatable ball is arranged at the end, close to the slide carriage, of the leaf picking handle, clamping handles are installed on the fixing base in pairs, a plurality of needle rods which are arranged at intervals are installed on the leaf picking handle and extend downwards, and a leaf removing mechanism is further arranged below the leaf picking handle. A nut is driven by a driving motor to move, a wedge-shaped face is arranged on the inner side of a slide carriage, leaf picking handles can be folded and unfolded in the process that balls move on the inner side of the slide carriage, tender leaves on the upper portions of branches can be protected in the leaf stripping process, leaf stripping of mulberry leaves can be achieved, leaf stripping of the next branch can be directly conducted after leaf stripping, and the leaf stripping efficiency is improved. Therefore, the mulberry leaf picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to a mulberry leaf picking technology, in particular to a mulberry leaf picking machine. Background Art

[0002] China is a major exporter of sericulture products in the world, with a long history and culture of sericulture. In recent years, the sericulture industry has developed rapidly. Mulberry leaves are the front-end raw materials of the sericulture industry, and mulberry leaves have rich medicinal value, antioxidant and anti-aging effects, and are an important economic crop in my country.

[0003] At present, there is little research on mulberry leaf harvesters. A stem-leaf separator suitable for mulberry branches has been designed abroad; an automatic reciprocating, rocker-type mulberry leaf picking machine with a positioning device has been proposed in China, such as: Chinese invention patent: A mulberry leaf picking device (publication number: CN116210455A), which realizes the picking of mulberry leaves through a harvesting component, but when harvesting, the harvesting component moves from bottom to top to cut the petiole of the mulberry leaves, and its branches are not restricted, which makes it easy to break the mulberry branches when harvesting mulberry leaves; another example: Chinese invention patent: A negative pressure automatic mulberry leaf picking machine (publication number: CN114793624A), through The mulberry leaf picking device connected to the screw can achieve free movement in both horizontal and vertical directions, and the scraper combined with the comb teeth can pick the plane within the entire stroke; the mulberry leaves that are detached during the picking process are immediately collected by the hose connected to the scraper to the discharge port of the negative pressure fan under the influence of gravity and suction, and fall into the traction trolley, but the comb teeth have no restrictions on the branches during the harvesting process, so the mulberry branches are also easily broken during the picking process, and the tender leaves on the top of the branches are not protected during the picking process. Moreover, the existing mulberry leaf picking equipment is difficult to remove the mulberry leaves after picking, and manual cleaning is required, which affects the picking efficiency of the mulberry leaves. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a mulberry leaf picking machine.

[0005] The object of the present invention is achieved through the following technical scheme: a mulberry leaf picking machine comprises a walking mechanism, a multi-axis manipulator is installed on the walking mechanism, a fixed seat is installed at the end of the multi-axis manipulator, a screw pair is installed on the fixed seat, the screw of the screw pair extends vertically downward, leaf picking petioles are installed in pairs on the nut of the screw pair, and the two leaf picking petioles are rotatably installed on the nut, a first notch is opened on the inner side of the two leaf picking petioles, a reset spring is arranged between the two leaf picking petioles, slide plates are installed on the two outer side walls of the fixed seat, on the forward projection plane, the bottom of the screw is located below the slide plate, the inner side of the bottom of the slide plate is provided with an outwardly stretched wedge surface, a rotatable ball is arranged on the end of the leaf picking petiole close to the slide plate, and the ball can slide along the inner side of the corresponding slide plate, a clamping handle is installed in pairs on the fixed seat, and the two clamping handles are rotatably installed on the fixed seat, A plurality of needle rods arranged at intervals are installed on the leaf picking petiole, and the needle rods extend downward. A leaf stripping mechanism is also arranged below the leaf picking petiole, and the leaf stripping mechanism includes a limiting portion and a leaf stripping petiole. The leaf stripping petioles are installed in pairs on the limiting portion, and the two leaf stripping petioles can rotate relative to the installation portion. A second notch is provided on the inner side of the leaf stripping petiole. A plurality of columns are installed on the upper surface of the leaf picking petiole, and the upper end of the columns is connected to one end of a tension spring, and the other end of the tension spring is connected to the corresponding leaf stripping petiole. A plurality of needle rods are installed on the leaf picking petiole, and the needle rods extend axially downward and pass through the leaf stripping petiole. The limiting portion is located below the slide. When the two leaf picking petioles are in an open state, the upper surface of the limiting portion abuts against the bottom of the slide under the action of the tension spring. At least two guide rods arranged at intervals are installed on the leaf stripping petiole, and the guide rods extend upward and pass through the corresponding leaf picking petiole and the clamping handle in sequence.

[0006] Optionally, the petiole is a semicircular structure, the arc-shaped inner wall of the petiole is a second notch, and an annular blade extending axially downward is provided on the inner wall of the second notch. When the upper surface of the petiole abuts against the bottom of the petiole, on the forward projection plane, the bottom of the annular blade is located above the needle rod.

[0007] Optionally, the petiole is a semicircular structure, and the needle bars are distributed on the same circumference at equal intervals.

[0008] Optionally, the tops of the guide rods on the same clamping handle are connected via a connecting piece.

[0009] Optionally, a soft pad is installed on the inner side of the clamping end of the clamping handle.

[0010] Optionally, the rotating ends of the two clamping handles are meshed through a meshing gear pair.

[0011] Optionally, a first mounting groove is provided on the fixing seat, the clamping handle is rotatably mounted in the first mounting groove via a rotating shaft, and the meshing gear pair is located in the first mounting groove.

[0012] Optionally, a settling step is provided on the outer side of the top surface of the petiole, the needle rod is distributed at the settling step, and the top of the needle rod passes through the settling step.

[0013] Optionally, a second mounting groove is provided on the mounting portion, and the leaf picking stalk is rotatably mounted in the second mounting groove via a rotating shaft.

[0014] Optionally, a step is provided at the end of the rotating end of the leaf picking handle, and the ball is rotatably mounted on the step via a rotating shaft.

[0015] The present invention has the following advantages: 1. The mulberry leaf picking machine of the present invention drives the nut to move by a driving motor, and a wedge-shaped surface is provided on the inner side of the slide plate. When the ball moves on the inner side of the slide plate, the leaf petioles can be closed and opened; 2. In the leaf-pulling preparation state, the clamping handle will not clamp the upper part of the branch, and in the leaf-pulling process, the clamping handle can clamp the upper part of the branch, and when the ball rolls down along the inner side of the slide, the leaf-picking handle is in an open state, and the leaf-picking handle will not pick the tender leaves on the upper part of the branch, thereby protecting the tender leaves. When the ball is separated from the slide, the clamping handle can clamp the upper part of the branch, so that the upper part of the branch is fixed, and then the mulberry leaves are picked from top to bottom, thereby protecting the branch and preventing the branch from being broken; 3. The mulberry leaf picking machine of the present invention is provided with a defoliation mechanism to facilitate the defoliation of mulberry leaves. After the defoliation is completed, the picking machine can enter the leaf-pulling equipment state, and then can directly pull the leaves of the next branch, thereby improving the mulberry leaf picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the present invention without a walking mechanism and a multi-axis manipulator Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention without a walking mechanism and a multi-axis manipulator Figure 2 ; Figure 3 for Figure 2 Schematic diagram of the structure of AA; Figure 4 for Figure 2 Schematic diagram of the structure of the medium BB; Figure 5 for Figure 2 Schematic diagram of the structure of CC; Figure 6 for Figure 2 Schematic diagram of the structure of DD; Figure 7 It is a structural schematic diagram of the leaf removal mechanism; Figure 8It is a structural schematic diagram of the initial static state of the present invention; Fig. 9 This is a structural schematic diagram of the present invention in a leaf-pulling preparation state; Fig.10 This is a structural schematic diagram of the leaf-pulling operation state of the present invention; Fig.11 It is a structural schematic diagram of the present invention in a state of being separated from branches; Fig.12 It is a structural schematic diagram of a mulberry leaf picking machine; In the figure, 11-petiole picking, 12-needle rod, 13-petiole stripping, 14-annular blade, 15-column, 16-tension spring, 17-limiting part, 21-clamping handle, 22-guide rod, 23-connecting piece, 24-fixed seat, 25-slide, 26-driving motor, 27-nut, 28-screw, 29-reset spring, 31-meshing gear pair, 32-cushion, 33-ball, 100-travel mechanism, 200-multi-axis manipulator. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] like Figure 1 , Figure 2 and Fig.12 As shown, a mulberry leaf picking machine includes a walking mechanism 100, on which a multi-axis manipulator 200 is installed, and a fixed seat 24 is installed at the end of the multi-axis manipulator 200. The walking mechanism 100 and the multi-axis manipulator 200 are both prior arts. Preferably, the walking mechanism 100 is a crawler walking mechanism 100, which has good off-road maneuverability and can walk on uneven ground, cross obstacles, climb steps with a small gradient, climb slopes, cross ditches, etc., so it is suitable for walking in mulberry fields, and the multi-axis manipulator 200 preferably adopts a four-axis, five-axis or six-axis manipulator, and a screw pair is installed on the fixed seat 24, and the screw 28 of the screw pair extends vertically downward, and the nut 27 of the screw pair is installed with leaf picking petioles 11 in pairs, and the two leaf picking petioles 11 are rotatably installed on the nut 27. Preferably, as Figure 1 and Figure 2 As shown, a mounting portion is provided on the nut 27, and a pair of leaf picking petioles 11 are mounted on the mounting portion, and the two leaf picking petioles 11 can rotate relative to the mounting portion. Further, as shown in FIG. Figure 2As shown, a second mounting groove is provided on the mounting portion, and the leaf picking petiole 11 is rotatably mounted in the second mounting groove through a rotating shaft. A first notch is provided on the inner side of the leaf picking petiole 11. When the two leaf picking petioles 11 are brought close together, the two first notches form a through hole for the branches to pass through. Furthermore, a reset spring 29 is provided between the two leaf picking petioles 11. The two leaf picking petioles 11 are in a close state under the action of the reset spring 29. In this embodiment, slide plates 25 are installed on the two outer side walls of the fixing seat 24. On the forward projection surface, as shown in FIG. Figure 6 As shown, the bottom of the screw 28 is located below the slide 25, and the inner side of the bottom of the slide 25 is provided with an outwardly stretched wedge-shaped surface. The end of the leaf picking handle 11 close to the slide 25 is provided with a rotatable ball 33, and the ball 33 can slide along the inner side of the corresponding slide 25. When the ball 33 enters the wedge-shaped surface area, the leaf picking handle 11 gradually closes under the action of the return spring 29. When the ball 33 is separated from the wedge-shaped surface, the two leaf picking handles 11 are closed. When in use, the drive motor 26 of the screw pair works to make the leaf picking handle 11 move upward. During the upward movement of the leaf picking handle 11, the ball 33 enters the wedge-shaped surface area, and the wedge-shaped surface squeezes the ball 33. The two leaf picking handles 11 gradually open. When the ball 33 moves upward and is separated After leaving the wedge-shaped surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking handles 11. In this embodiment, the fixing seat 24 is provided with a pair of clamping handles 21, and the two clamping handles 21 are rotatably installed on the fixing seat 24. At least two vertical guide rods 22 are passed through the leaf picking handle 11, and the guide rods 22 extend upward and pass through the corresponding clamping handles 21, so the leaf picking handle 11 and the clamping handle 21 are opened and closed synchronously, that is, when the leaf picking handle 11 is opened, the clamping handle 21 is also opened, and when the leaf picking handle 11 is closed, the clamping handle 21 is also closed. A plurality of needle rods 12 arranged at intervals are installed on the leaf picking handle 11, and the needle rods 12 extend downward. A leaf removal mechanism is also provided below the leaf picking handle 11, such as Figure 7As shown, the defoliation mechanism includes a limiting portion 17 and a defoliation petiole 13, the limiting portion 17 is provided with defoliation petioles 13 in pairs, and the two defoliation petioles 13 can rotate relative to the installation portion, a second notch is provided on the inner side of the defoliation petiole 13, and the two second notches also form a through hole for branches to pass through, a plurality of columns 15 are installed on the upper surface of the picking petiole 11, the upper end of the column 15 is connected to one end of a tension spring 16, and the other end of the tension spring 16 is connected to the corresponding defoliation petiole 13, a plurality of needle rods 12 are installed on the picking petiole 11, the needle rod 12 extends axially downward and passes through the defoliation petiole 13, so that the defoliation petiole 13 can only move along the extension direction of the needle rod 12, the tension spring 16 is in a stretched state, and the defoliation petiole 13 is always connected with the picking petiole under the action of the tension spring 16 without being affected by other external forces. The petiole 11 is in contact, and the limiting part 17 is located below the slide 25. When the two leaf picking petioles 11 are in the open state, the upper surface of the limiting part 17 is in contact with the bottom of the slide 25 under the action of the tension spring 16. When in use, the multi-axis manipulator 200 moves the fixed seat 24 to the specified position, and the driving motor 26 of the screw pair works to make the leaf picking petiole 11 move upward. During the upward movement of the leaf picking petiole 11, the ball 33 enters the wedge surface area, and the wedge surface squeezes the ball 33, and the two leaf picking petioles 11 gradually open. When the ball 33 moves upward and leaves the wedge surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking petioles 11. At this time, the clamping handle 21 is also opened as the leaf picking petiole 11 opens, and during the upward movement of the leaf picking petiole 11 In the process, the tension spring 16 is gradually stretched, and when the ball 33 enters the wedge-shaped surface area, at this time, the limit part 17 abuts against the bottom of the slide 25, and the leaf stripping petiole 13 cannot move upward, and the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 is pulled apart. When the leaf picking petiole 11 moves to the upper stroke, at this time, the bottom of the needle rod 12 is located in the leaf stripping petiole 13, and then the multi-axis manipulator 200 moves, and the upper part of the branch is located between the two clamping handles 21, and then the drive motor 26 rotates in the opposite direction, and the leaf picking petiole 11 moves downward first. At this time, since the ball 33 is still between the inner side walls of the two slides 25, the leaf picking petiole 11 is still in an open state, so that the tender leaves on the upper part of the branch will not be picked, thereby protecting the tender leaves of the mulberry leaves. During the downward process, when the ball After the ball 33 enters the wedge-shaped surface area, the two leaf-picking petioles 11 gradually move closer. When the ball 33 leaves the wedge-shaped surface area, the two leaf-picking petioles 11 move closer under the action of the reset spring 29, and the leaf-removing petiole 13 abuts against the leaf-picking petiole 11. At this time, the clamping handle 21 clamps the upper part of the branch. As the leaf-removing petiole 13 and the leaf-picking petiole 11 move from top to bottom along the branch, the petiole and the leaf are stuck between two adjacent needle rods 12 during the movement, and a plurality of needle rods 12 form comb teeth. During the downward movement, the mulberry leaf petiole is pulled off the branch, and the picked mulberry leaves are stacked between the comb teeth, which makes it difficult to damage the leaves of the mulberry leaves. Furthermore, the leaf-picking petiole 11 is a semicircular structure, and the arc-shaped inner wall of the leaf-picking petiole 11 is the first notch.The needle rods 12 are evenly spaced and distributed on the same circumference, so that the needle rods 12 are evenly distributed. When the nut 27 moves to the lower stroke of the screw 28, the leaf picking is completed, and then the multi-axis manipulator 200 moves the defoliation mechanism to the mulberry leaf collection area, and then the driving motor 26 drives the nut 27 to move upward along the screw 28. When the ball 33 enters the wedge-shaped surface area, the leaf stripping petiole 13 abuts against the slide 25. As the leaf picking petiole 11 moves upward, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 gradually increases, and then the driving motor 26 stops working. At this time, the ball 33 is still in the wedge-shaped surface area, that is, the two leaf picking petioles 11 are in a semi-open state, and the clamping handle 21 is also in a semi-open state. Although in this process, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 will increase to a certain extent, that is, the leaf stripping petiole 13 will move down a little distance relative to the needle rod 12, therefore, the leaf picking petiole 11 is moved from the clamping state to the clamping state. In the process from the state to the semi-open state, the mulberry leaves between the needle bars 12 will not fall, and then the multi-axis manipulator 200 moves again, so that the branches are separated from the clamping handle 21, and the mulberry leaves are moved to the mulberry leaf collection area, and then the driving motor 26 works again, the leaf picking handle 11 moves upward, and the ball 33 enters between the inner side walls between the two slides 25. In the process of the leaf picking handle 11 moving upward, the leaf stripping handle 13 is supported by the slide 25, and the leaf stripping handle 13 moves downward relative to the needle bar 12. At this time, the mulberry leaves stuck between the needle bars 12 are separated from the needle bars 12 and fall into the mulberry leaf collection area under the action of the leaf stripping handle 13, completing the defoliation of the mulberry leaves. In addition, when the leaf picking handle 11 is in the semi-open state, the mulberry leaves are stuck between the adjacent needle bars 12, and the mulberry leaves will be squeezed and arched, so the mulberry leaves have a certain elastic restoring force, and the mulberry leaves themselves are light in weight, so the mulberry leaves will not fall during the movement of the multi-axis manipulator 200.

[0024] In this embodiment, since the mulberry leaves all grow sideways, the petiole 11 can be pulled off the mulberry leaf petiole from the branch during the movement from top to bottom. However, a small number of mulberry leaf petioles cannot be pulled off the branch. In order to increase the collection rate of mulberry leaves, in this embodiment, Figure 1 and Figure 4 As shown, the petiole 13 is a semicircular structure, and the arc-shaped inner wall of the petiole 13 is a second notch. An annular blade 14 extending axially downward is provided on the inner wall of the second notch. When the upper surface of the petiole 13 abuts against the bottom of the picking petiole 11, on the forward projection plane, the bottom of the annular blade 14 is located above the needle rod 12. The mulberry leaves that have not been torn off, at this time, the part of the mulberry leaf petiole close to the leaf end is stuck between the needle rods 12. When the annular blade 14 contacts the petiole, the annular blade 14 can cut off the petiole, while the mulberry leaves with the petiole cut off are still stacked between the needle rods 12.

[0025] In this embodiment, if Figure 1 , Figure 2As shown, the top of the guide rod 22 located on the same clamping handle 21 is connected by a connecting piece 23, the top of the guide rod 22 is fixed by the leaf picking handle 11, the middle of the guide rod 22 is restricted by the clamping handle 21, and the top of the guide rod 22 is restricted by the connecting piece 23, thereby ensuring the guiding accuracy of the guide rod 22, and through the connecting piece 23, it can also prevent the guide rod 22 from detaching from the clamping handle 21.

[0026] In this embodiment, if Figure 1 and Figure 3 As shown, a soft pad 32 is installed on the inner side of the clamping end of the clamping handle 21. The soft pad 32 allows soft contact between the branch and the clamping handle 21, thereby preventing the clamping handle 21 from causing damage to the branch. In addition, due to the provision of a wedge-shaped surface, the two clamping handles 21 gradually move closer together, which can also prevent the clamping handles 21 from instantly closing together and causing damage to the branch. Preferably, the soft pad 32 is made of silicone.

[0027] In this embodiment, if Figure 1 and Figure 3 As shown, the rotating ends of the two clamping handles 21 are meshed through a meshing gear pair 31, so that the opening and closing angles of the two clamping handles 21 are consistent.

[0028] In this embodiment, if Figure 2 As shown, a first mounting groove is provided on the fixing seat 24, and the clamping handle 21 is rotatably mounted in the first mounting groove through a rotating shaft, and the meshing gear pair 31 is located in the first mounting groove. Preferably, a threaded section is provided at the end of the rotating shaft, and the threaded section is threadedly connected to the side wall corresponding to the first mounting groove. When disassembling, the clamping handle 21 can be disassembled by simply taking out the rotating shaft.

[0029] In this embodiment, if Figure 1 and Figure 4 As shown, a boss is provided on the top of the leaf picking stalk 11, and both ends of the reset spring 29 are respectively mounted on the corresponding bosses. The bosses can be screwed to achieve a detachable connection with the leaf picking stalk 11 through the screws.

[0030] In this embodiment, Figure 2 As shown, a second mounting groove is provided on the mounting portion, and the leaf picking handle 11 can be rotatably mounted in the second mounting groove through a rotating shaft, and the ball 33 can be hidden in the second mounting groove, and the two leaf picking handles 11 and the rotating shaft form a scissors-like structure. When the distance between the two balls 33 is reduced, the end of the leaf picking handle 11 away from the ball 33 opens, and conversely, when the distance between the two balls 33 increases, the end of the leaf picking handle 11 away from the ball 33 is closed.

[0031] In this embodiment, if Figure 2As shown, a third mounting groove is opened on the limiting portion 17, and the end of the leaf stripping petiole 13 is rotatably mounted in the third mounting groove through a rotating shaft. At least two guide rods 22 arranged at intervals are installed on the leaf stripping petiole 13, and the guide rods 22 extend upward and pass through the corresponding leaf picking petiole 13 and the clamping handle 21 in sequence. When the leaf picking petiole 11 is opened, the leaf stripping petiole 13 is also opened, and when the leaf picking petiole 11 is closed, the leaf stripping petiole 13 is also closed.

[0032] In this embodiment, if Figure 1 As shown, two upright posts 15 are arranged on the upper surface of the leaf-picking petiole 11, and the upright posts 15 are distributed at both ends of the leaf-picking petiole 11, so that the force on the leaf-removing petiole 13 is more uniform, which facilitates the restoration of the leaf-removing petiole 13 after removing leaves.

[0033] In this embodiment, if Figure 1 As shown, a step is provided at the end of the rotating end of the leaf picking handle 11, and the ball 33 is rotatably mounted on the step through a rotating shaft. On the horizontal projection plane, part of the ball 33 is located on the outside of the step, thereby ensuring that the ball 33 can roll along the inner side of the slide 25. Of course, in this embodiment, when the two leaf picking handles 11 are in a close state, on the horizontal projection plane, at least half of the ball 33 is covered by the wedge surface. Therefore, when the nut 27 is in the upward process, it can ensure that the ball 33 enters between the two wedge surfaces, and under the guiding effect of the wedge surfaces, the distance between the two balls 33 gradually decreases.

[0034] In this embodiment, if Figure 1 and Figure 7 As shown, a settling step is provided on the outer side of the top surface of the leaf picking petiole 11, and the needle rod 12 is distributed at the settling step, and the top of the needle rod 12 passes through the settling step, so that the top of the needle rod 12 is in a leaking state, thereby facilitating the pulling of the needle rod 12. Preferably, the needle rod 12 is made of a steel needle.

[0035] The mulberry leaf picking process is divided into an initial static state, a leaf-picking preparation state, a leaf-picking operation state, a branch-detached state, and a petiole-detached state 13 returning to a leaf-picking preparation state. The following describes the mulberry leaf picking process in detail using the mulberry leaf picking machine based on the above states.

[0036] Initial static state: Figure 8 As shown, the nut 27 is at the bottom edge of the slide 25, the return spring 29 and the tension spring 16 are both in the shortest state, at which time there is no pressure contact between the ball 33 and the slide 25, and the clamping handle 21, the leaf picking handle 11 and the leaf removing handle 13 are all in a closed state.

[0037] Leaf preparation status: Fig. 9As shown, the driving motor 26 works and the nut 27 moves upward, causing the leaf picking stem 11 to move upward. During the upward movement of the leaf picking stem 11, the ball 33 enters the wedge surface area, and the wedge surface squeezes the ball 33, so that the two leaf picking stems 11 are gradually opened. When the ball 33 moves upward and leaves the wedge surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking stems 11. At this time, the clamping handle 21 is also opened as the leaf picking stem 11 opens. During the upward movement of the leaf picking stem 11, the tension spring 16 is gradually stretched. When the ball 33 enters the wedge surface area, the limiting portion 17 abuts against the bottom of the slide 25, and the leaf stripping stem 13 cannot move upward. The distance between the leaf stripping stem 13 and the leaf picking stem 11 is widened. When the leaf picking stem 11 moves to the upper stroke, the bottom of the needle rod 12 is located in the leaf stripping stem 13, and the leaf stripping preparation state is entered.

[0038] Leaf pulling operation status: Fig.10 As shown, the drive motor 26 works in the reverse direction, and the nut 27 moves downward. During the downward process, when the ball 33 enters the wedge-shaped surface area, the two leaf-picking petioles 11 gradually move closer. When the ball 33 leaves the wedge-shaped surface area, the two leaf-picking petioles 11 move closer under the action of the reset spring 29, and the leaf-picking petiole 13 abuts against the leaf-picking petiole 11. At this time, the clamping handle 21 clamps the upper part of the branch. As the leaf-picking petiole 13 and the leaf-picking petiole 11 move from top to bottom along the branch, the mulberry leaf petiole is stuck in the adjacent Between two needle rods 12, several needle rods 12 form comb teeth. In the process of moving downward, the leaf petioles are torn off from the branches, and the picked mulberry leaves are stacked between the comb teeth, which is not easy to cause damage to the leaves of the mulberry leaves. The mulberry leaves that are not torn off have their petioles cut off by the annular blade 14, and the mulberry leaves with cut petioles are still stacked between the needle rods 12. When the nut 27 moves to the lower stroke, at this time, all the mulberry leaves that can be picked on the branches are picked, thereby completing the leaf plucking operation of the mulberry leaves.

[0039] Out of the branch state: Fig.11 As shown, the drive motor 26 works, thereby causing the nut 27 to move upward. When the ball 33 enters the wedge surface area, the leaf stripping petiole 13 abuts against the slide 25. As the leaf picking petiole 11 moves upward, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 gradually increases, and then the drive motor 26 stops working. At this time, the ball 33 is still in the wedge surface area, that is, there is contact pressure between the wedge surface and the ball 33, and the two leaf picking petioles 11 are in a semi-open state, and the clamping handle 21 is also in a semi-open state. Then the multi-axis manipulator 200 moves again, so that the clamping handle 21 and the entire picking mechanism are separated from the branch.

[0040] The petiole 13 returns to the leaf-pulling preparation state: the robot moves the picked mulberry leaves to the mulberry leaf collection area, and then drives the motor 26 to work again, the picking petiole 11 moves upward, and the ball 33 enters between the inner walls between the two slides 25. During the upward movement of the picking petiole 11, the petiole 13 is held back by the slide 25, and the petiole 13 moves downward relative to the needle rod 12. At this time, the mulberry leaves stuck between the needle rods 12 are separated from the needle rods 12 under the action of the petiole 13 and fall into the mulberry leaf collection area. When the nut 27 moves to the upper stroke, the mulberry leaves are defoliated. At this time, Fig. 9 As shown, the whole device enters the leaf-plucking equipment state, and then the leaves of the next mulberry branch can be plucking.

[0041] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mulberry leaf picking machine, comprising a walking mechanism, on which a multi-axis manipulator is installed, characterized in that: A fixed seat is installed at the end of the multi-axis manipulator, and a screw pair is installed on the fixed seat. The screw of the screw pair extends vertically downward, and leaf picking handles are installed in pairs on the nut of the screw pair, and the two leaf picking handles are rotatably installed on the nut. A first notch is opened on the inner sides of the two leaf picking handles, and a return spring is arranged between the two leaf picking handles. Slides are installed on the two outer side walls of the fixed seat. On the forward projection plane, the bottom of the screw is located below the slide, and the inner side of the bottom of the slide is provided with an outwardly stretched wedge surface. Rotatable balls are arranged on the end of the leaf picking handle close to the slide, and the balls can slide along the corresponding inner side of the slide. Clamping handles are installed in pairs on the fixed seat, and the two clamping handles are rotatably installed on the fixed seat. A plurality of needle bars arranged at intervals are installed on the leaf picking handle, and the needle bars The yoke is provided with a plurality of springs, each of which is adapted to move the leaf-picking stems downwardly and to move the leaf-picking stems downwardly. A leaf-picking mechanism is further provided below the leaf-picking stem, the leaf-picking mechanism comprising a limiting portion and a leaf-picking stem. The limiting portion is provided with leaf-picking stems in pairs, and the two leaf-picking stems can rotate relative to the mounting portion. A second notch is provided on the inner side of the leaf-picking stem. A plurality of columns are provided on the upper surface of the leaf-picking stem, the upper end portion of the columns is connected to one end of a tension spring, and the other end of the tension spring is connected to the corresponding leaf-picking stem. A plurality of needle rods are provided on the leaf-picking stem, the needle rods extend axially downward and pass through the leaf-picking stems. The limiting portion is located below the slide. When the two leaf-picking stems are in an open state, the upper surface of the limiting portion abuts against the bottom of the slide under the action of the tension spring. At least two guide rods are provided on the leaf-picking stem, which are arranged at intervals. The guide rods extend upward and pass through the corresponding leaf-picking stems and the clamping stems in sequence.

2. A mulberry leaf picking machine according to claim 1, characterized in that: The leaf stripping petiole is a semicircular structure, and the arc-shaped inner wall of the leaf stripping petiole is the second notch. An annular blade extending axially downward is provided on the inner wall of the second notch. When the upper surface of the leaf stripping petiole abuts against the bottom of the leaf picking petiole, on the forward projection plane, the bottom of the annular blade is located above the needle rod.

3. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: The leaf picking petiole is a semicircular structure, and the needle rods are distributed on the same circumference at equal intervals.

4. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: The tops of the guide rods located on the same clamping handle are connected via a connecting piece.

5. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: A soft pad is installed inside the clamping end of the clamping handle.

6. A mulberry leaf picking machine according to any one of claims 1 or 2, characterized in that: The rotating ends of the two clamping handles are meshed through a meshing gear pair.

7. A mulberry leaf picking machine according to claim 6, characterized in that: The fixing seat is provided with a first mounting groove, the clamping handle is rotatably mounted in the first mounting groove via a rotating shaft, and the meshing gear pair is located in the first mounting groove.

8. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: A sinking step is provided on the outer side of the top surface of the leaf picking stalk, the needle rod is distributed at the sinking step, and the top of the needle rod passes through the sinking step.

9. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: The mounting portion is provided with a second mounting groove, and the leaf picking handle is rotatably mounted in the second mounting groove via a rotating shaft.

10. A mulberry leaf picking machine according to claim 1 or 2, characterized in that: A step is provided at the end of the rotating end of the leaf picking handle, and the ball bearing is rotatably mounted on the step through a rotating shaft.

Images