Mulberry leaf picking machine

Abstract

The application discloses a mulberry leaf picking machine, a screw pair is installed on a fixing base, a screw rod of the screw pair vertically extends downward, a pair of leaf picking handles are installed on nuts of the screw pair, a reset spring is arranged between the two leaf picking handles, slide plates are installed on two outer side walls of the fixing base, a wedge surface that is outwardly opened is arranged on the bottom inner side of the slide plate, rotatable balls are arranged on end portions of the leaf picking handles that are close to the slide plates, clamping handles are installed in pairs on the fixing base, a plurality of needle rods are installed on the leaf picking handles and extend downward, and a leaf removing mechanism is further arranged below the leaf picking handles. The driving motor drives the nuts to move, the wedge surface is arranged on the inner side of the slide plate, the balls can be converged and opened during movement on the inner side of the slide plate, the tender leaves on the upper part of the branches can be protected during leaf picking, the mulberry leaves can be removed, and the leaf picking of the next branch can be directly carried out after the leaves are removed, so that the mulberry leaf picking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to mulberry leaf picking technology, in particular to a mulberry leaf picking machine. BACKGROUND

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

[0003] Currently, there is little research on mulberry leaf harvesting machines. A stem and leaf separator suitable for mulberry branches has been designed abroad. Domestic automatic reciprocating, rocker, and mulberry leaf picking machines with positioning devices have been proposed, such as Chinese invention patent: a mulberry leaf picking device (publication number: CN116210455A), which realizes the picking of mulberry leaves through a harvesting assembly. However, during harvesting, the harvesting assembly moves from bottom to top, cutting the petiole of the mulberry leaf, and the branch is not limited, which makes it easy to break the mulberry branch during mulberry leaf harvesting. For example, Chinese invention patent: a negative pressure type mulberry leaf automatic picking machine (publication number: CN114793624A), which realizes free movement in horizontal and vertical directions through a mulberry leaf picking device connected to a lead screw. The scraper combined with the brush teeth can pick the entire plane during the stroke. During the picking process, the mulberry leaves detached by gravity and suction force are immediately collected by the hose connected to the scraper into the negative pressure fan discharge port and fall into the traction trolley. However, the brush teeth do not limit the branches during the harvesting process, and the tender leaves at the top of the branches are not protected during the picking process. Moreover, the existing mulberry leaf picking equipment is difficult to remove the leaves after picking, and manual cleaning is required, which affects the picking efficiency of mulberry leaves. SUMMARY

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

[0005] The objective of this invention is achieved through the following technical solution: A mulberry leaf picking machine includes a walking mechanism, on which a multi-axis manipulator is mounted. A fixed base is mounted at the end of the multi-axis manipulator, and a lead screw pair is mounted on the fixed base. The lead screw of the lead screw pair extends vertically downwards. A pair of leaf-picking handles are mounted on the nut of the lead screw pair, and the two leaf-picking handles are rotatably mounted on the nut. A first notch is provided on the inner side of each leaf-picking handle. A return spring is provided between the two leaf-picking handles. Slides are mounted on the two outer walls of the fixed base. In the frontal projection plane, the bottom of the lead screw is located below the slide. An outwardly flared wedge-shaped surface is provided on the inner side of the bottom of the slide. Rotatable ball bearings are provided on the leaf-picking handles near the end of the slide, and the ball bearings can slide along the inner side of the corresponding slide. A pair of clamping handles are mounted on the fixed base, and the two clamping handles are rotatably mounted on the fixed base. The leaf-collecting stalk is equipped with several spaced needle bars that extend downwards. A leaf-removing mechanism is also provided below the leaf-collecting stalk. The leaf-removing mechanism includes a limiting part and a leaf-removing stalk. A pair of leaf-removing stalks are installed on the limiting part, and the two leaf-removing stalks can rotate relative to the limiting part. A second notch is opened on the inner side of the leaf-collecting stalk. Several columns are installed on the upper surface of the leaf-collecting stalk. The upper end of the column is connected to one end of a tension spring, and the other end of the tension spring is connected to the corresponding leaf-removing stalk. Several needle bars are installed on the leaf-collecting stalk. The needle bars extend axially downwards and pass through the leaf-removing stalk. The limiting part is located below the slide. When the two leaf-collecting stalks are in the open state, the upper surface of the limiting part abuts against the bottom of the slide under the action of the tension spring. At least two spaced guide rods are installed on the leaf-removing stalk. The guide rods extend upwards and pass through the corresponding leaf-collecting stalk and clamping handle in sequence.

[0006] Optionally, the leaf-removing stalk has a semi-circular structure, and the arc-shaped inner wall of the leaf-removing stalk is a second notch. An axially downward extending annular blade is provided on the inner wall of the second notch. When the upper surface of the leaf-removing stalk abuts against the bottom of the leaf-collecting stalk, the bottom of the annular blade is located above the needle bar on the front projection plane.

[0007] Optionally, the leaf petiole has a semi-circular structure, with needles evenly distributed on the same circumference.

[0008] Optionally, the top of the guide rod located on the same clamping handle is connected by a connector.

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

[0010] Optionally, the rotating ends of the two clamping handles are engaged by a gear pair.

[0011] Optionally, the mounting base has 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.

[0012] Optionally, the top surface of the leaf stalk is provided with a settling step, and the needle rod is arranged at the settling step, and the top of the needle rod penetrates through the settling step.

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

[0014] Optionally, the end of the rotating end of the leaf stalk is provided with a step, and the ball is rotatably mounted at the step through the rotating shaft.

[0015] The present application has the following advantages:

[0016] 1. The mulberry leaf picking machine of the present application drives the nut to move through the driving motor, and the inner side of the slide plate is provided with a wedge surface, so that the leaf stalks can be closed and opened during the movement of the ball in the inner side of the slide plate.

[0017] 2. In the leaf picking preparation state, the clamping handle does not clamp the upper part of the branch, and in the leaf picking process, the clamping handle can clamp the upper part of the branch, and during the downward rolling of the ball along the inner side of the slide plate, the leaf stalk is in an open state, so that the tender leaves on the upper part of the branch are not picked, thereby protecting the tender leaves, and when the ball is separated from the slide plate, 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 avoiding the branch from being broken.

[0018] 3. The mulberry leaf picking machine of the present application is provided with a leaf removing mechanism, which is convenient for removing the leaves, and after the leaf removing is completed, the picking machine can enter the leaf picking state, thereby directly picking the next branch, thereby improving the picking efficiency of the mulberry leaves. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Structure diagram of the present application without walking mechanism and multi-axis manipulator Figure 1 ;

[0020] Figure 2 Structure diagram of the present application without walking mechanism and multi-axis manipulator Figure 2 ;

[0021] Figure 3 Structure diagram of A-A in the present application Figure 2 ;

[0022] Figure 4 Structure diagram of B-B in the present application Figure 2 ;

[0023] Figure 5 Structure diagram of C-C in the present application Figure 2 ;

[0024] Figure 6 For Figure 2 The structural schematic diagram of D-D in the middle;

[0025] Figure 7 For the structural schematic diagram of the leaf stripping mechanism;

[0026] Figure 8 For the structural schematic diagram of the initial static state of the application;

[0027] Figure 9 For the structural schematic diagram of the leaf stripping preparation state of the application;

[0028] Figure 10 For the structural schematic diagram of the leaf stripping operation state of the application;

[0029] Figure 11 For the structural schematic diagram of the branch stripping state of the application;

[0030] Figure 12 For the structural schematic diagram of the mulberry leaf picking machine;

[0031] In the figure, 11 is a leaf picking handle, 12 is a needle rod, 13 is a leaf stripping handle, 14 is a ring-shaped blade, 15 is a vertical column, 16 is a tension spring, 17 is a limiting part, 21 is a clamping handle, 22 is a guide rod, 23 is a connecting piece, 24 is a fixing seat, 25 is a sliding plate, 26 is a driving motor, 27 is a nut, 28 is a lead screw, 29 is a return spring, 31 is an engagement gear pair, 32 is a soft pad, 33 is a ball, 100 is a walking mechanism, and 200 is a multi-axis manipulator. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme in the embodiments of the application will be described clearly and completely below in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. The components of the embodiments of the application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the application.

[0034] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0035] It should be noted that similar reference numerals and letters refer to like items in the accompanying drawings, and once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0036] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the application is used, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present application, it should be noted that unless otherwise specifically defined and limited, the terms "set", "mount", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] As shown in Figure 1 , Figure 2 and Figure 12 , a mulberry leaf picking machine comprises a walking mechanism 100, a multi-axis manipulator 200 is installed on the walking mechanism 100, a fixing 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 art, preferably, the walking mechanism 100 is a tracked walking mechanism 100, which has good cross-country mobility, can walk on uneven ground, can cross obstacles, can climb steps with small gradient, and can climb slopes and cross ditches, etc., and is therefore suitable for walking in a mulberry field, and the multi-axis manipulator 200 preferably adopts a four-axis or five-axis or six-axis manipulator, a screw pair is installed on the fixing seat 24, a screw rod 28 of the screw pair extends vertically downward, and a pair of leaf picking handles 11 are installed on a nut 27 of the screw pair, and the two leaf picking handles 11 are rotatably installed on the nut 27, preferably, as shown in Figure 1 and Figure 2 , an installation portion is provided on the nut 27, and the pair of leaf picking handles 11 are rotatably installed on the installation portion relative to a limiting portion, further, as shown in Figure 2As shown, the mounting portion is provided with a second mounting slot, the leaf stalk 11 is rotatably mounted in the second mounting slot through a rotating shaft, a first notch is formed in the inner side of the leaf stalk 11, when the two leaf stalks 11 are closed, the two first notches form a perforation through which the branch passes, further, a reset spring 29 is arranged between the two leaf stalks 11, and the two leaf stalks 11 are in a closed state under the action of the reset spring 29, in this embodiment, the two outer side walls of the fixed seat 24 are provided with sliding plates 25, as shown in the front projection plane, Figure 6 As shown, the bottom of the lead screw 28 is located below the sliding plate 25, the inner side of the bottom of the sliding plate 25 is provided with an outwardly tapered surface, the end of the leaf stalk 11 close to the sliding plate 25 is provided with a rotatable ball 33, and the ball 33 can slide along the inner side of the sliding plate 25, when the ball 33 enters the tapered surface area, the leaf stalk 11 is gradually closed under the action of the reset spring 29, when the ball 33 is separated from the tapered surface, the two leaf stalks 11 are closed, in use, the driving motor 26 of the lead screw pair works, so that the leaf stalk 11 goes up, in the process of the leaf stalk 11 going up, the ball 33 enters the tapered surface area, the tapered surface extrudes the ball 33, and the two leaf stalks 11 are gradually opened, when the ball 33 goes up and separates from the tapered surface area, the ball 33 is in contact with the inner side of the sliding plate 25 at this time, so as to open the two leaf stalks 11, in this embodiment, the fixed seat 24 is provided with a pair of clamping handles 21, and the two clamping handles 21 are rotatably mounted on the fixed seat 24, the leaf stalk 11 is provided with at least two vertical guide rods 22, the guide rods 22 extend upward and pass through the corresponding clamping handles 21, so that the leaf stalk 11 and the clamping handle 21 are opened and closed synchronously, that is, the leaf stalk 11 is opened, the clamping handle 21 is also opened, the leaf stalk 11 is closed, and the clamping handle 21 is also closed, the leaf stalk 11 is provided with a plurality of needle rods 12 arranged at intervals, and the needle rods 12 extend downward, and the leaf stalk 11 is further provided with a leaf removing mechanism, as shown in Figure 7As shown, the leaf shedding mechanism includes a limiting portion 17 and a leaf shedding handle 13, the leaf shedding handle 13 is installed in pairs on the limiting portion 17, and the two leaf shedding handles 13 can rotate relative to the mounting portion, the inner side of the leaf shedding handle 13 is provided with a second notch, and the two second notches also form a through hole through which the branch passes, the upper surface of the leaf picking handle 11 is provided with a plurality of vertical columns 15, the upper end of the vertical column 15 is connected with one end of the tension spring 16, the other end of the tension spring 16 is connected with the corresponding leaf shedding handle 13, a plurality of needle rods 12 are installed on the leaf picking handle 11, the needle rod 12 extends axially downward and passes through the leaf shedding handle 13, so that the leaf shedding handle 13 can only move along the extension direction of the needle rod 12, the tension spring 16 is in a stretched state, and under the action of no other external force, the leaf shedding handle 13 is always in abutment with the leaf picking handle 11 under the action of the tension spring 16, and the limiting portion 17 is located below the sliding plate 25. When the two leaf picking handles 11 are in an open state, the upper surface of the limiting portion 17 is in abutment with the bottom of the sliding plate 25 under the action of the tension spring 16. In use, the multi-axis mechanical hand 200 moves the fixing seat 24 to a specified position, the driving motor 26 of the screw pair works, so that the leaf picking handle 11 goes up, and in the process that the leaf picking handle 11 goes up, the ball 33 enters the wedge surface area, the wedge surface extrudes the ball 33, and the two leaf picking handles 11 are gradually opened. When the ball 33 goes up and leaves the wedge surface area, the ball 33 is in contact with the inner side of the sliding plate 25 at this time, so as to open the two leaf picking handles 11. At this time, the clamping handle 21 is also opened along with the opening of the leaf picking handle 11. In the process that the leaf picking handle 11 goes up, the tension spring 16 is gradually stretched. When the ball 33 enters the wedge surface area, the limiting portion 17 is in abutment with the bottom of the sliding plate 25 at this time, and the leaf shedding handle 13 cannot move upward. The distance between the leaf shedding handle 13 and the leaf picking handle 11 is pulled apart. When the leaf picking handle 11 moves to the upper stroke, the bottom of the needle rod 12 is located in the leaf shedding handle 13 at this time, then the multi-axis mechanical hand 200 moves, so that the upper part of the branch is located between the two clamping handles 21, then the driving motor 26 is reversely rotated, the leaf picking handle 11 moves downward first at this time, and since the ball 33 is still between the inner side walls of the two sliding plates 25, the leaf picking handle 11 is still in an open state, so that the tender leaves on the upper part of the branch are not picked, and the tender leaves of the mulberry leaves are protected. In the process that the ball 33 enters the wedge surface area, the two leaf picking handles 11 are gradually closed at this time. When the ball 33 leaves the wedge surface area, the two leaf picking handles 11 are closed under the action of the reset spring 29, and the leaf shedding handle 13 is in abutment with the leaf picking handle 11. At this time, the clamping handle 21 clamps the upper part of the branch. Along with the movement of the leaf shedding handle 13 and the leaf picking handle 11 along the branch from top to bottom, in the process of movement, the leaf handle and leaf are clamped between adjacent two needle rods 12, and the plurality of needle rods 12 form comb teeth. In the process of moving downward, the leaf handle of the mulberry leaf is pulled off from the branch, and the picked mulberry leaves are stacked between the comb teeth, so that the mulberry leaves are not easily damaged. Further, the leaf picking handle 11 is a semicircular structure, the arc inner wall of the leaf picking handle 11 is a first notch,The needle bars 12 are distributed at equal intervals on the same circumference, so that the needle bars 12 are uniformly distributed, and when the nut 27 moves to the lower stroke of the lead screw 28, the leaf picking is completed, then the multi-axis manipulator 200 moves the leaf stripping mechanism to the mulberry leaf collecting area, and then the driving motor 26 drives the nut 27 to move upward along the lead screw 28, when the ball 33 enters the wedge surface area, the leaf stripping handle 13 abuts against the sliding plate 25 at this time, with the upward movement of the leaf picking handle 11, the distance between the leaf stripping handle 13 and the leaf picking handle 11 gradually increases, then the driving motor 26 stops working, at this time the ball 33 is still in the wedge surface area, that is, the two leaf picking handles 11 are in a half-open state, and the clamping handle 21 is also in a half-open state, although the distance between the leaf stripping handle 13 and the leaf picking handle 11 will increase to some extent during this process, that is, the leaf stripping handle 13 will move downward relative to the needle bar 12 by a small distance, therefore, during the process of the leaf picking handle 11 from the clamping state to the half-open state, the mulberry leaves between the needle bars 12 will not fall off, then the multi-axis manipulator 200 moves again, so that the branch is separated from the clamping handle 21, and the mulberry leaves are moved to the mulberry leaf collecting area, then the driving motor 26 works again, the leaf picking handle 11 moves upward, and the ball 33 enters between the inner side walls of the two sliding plates 25, during the upward movement of the leaf picking handle 11, the leaf stripping handle 13 is abutted by the sliding plate 25, and the leaf stripping handle 13 moves downward relative to the needle bar 12, at this time the mulberry leaves clamped between the needle bars 12 are separated from the needle bars 12 under the action of the leaf stripping handle 13 and fall into the mulberry leaf collecting area, completing the leaf stripping of the mulberry leaves, and when the leaf picking handle 11 is in a half-open state, the mulberry leaves clamped between the adjacent needle bars 12 will be squeezed and arched, so the mulberry leaves have a certain elastic restoring force, and the mulberry leaves themselves are relatively light in weight, so the mulberry leaves will not fall off during the movement of the multi-axis manipulator 200.

[0039] In this embodiment, since the mulberry leaves are all lateral growth, the leaf picking handle 11 can tear the leaf stalks from the branches during the downward movement from top to bottom, but a small part of the mulberry leaf stalks cannot be torn from the branches, in order to improve the collection rate of the mulberry leaves, in this embodiment, as shown in Figure 1 and Figure 4 , the leaf stripping handle 13 is a semicircular structure, the arc-shaped inner wall of the leaf stripping handle 13 is a second gap, and the inner wall of the second gap is provided with an annular blade 14 extending axially downward, when the upper surface of the leaf stripping handle 13 abuts against the bottom of the leaf picking handle 11, the bottom of the annular blade 14 is located above the needle bar 12 on the front projection surface, and the mulberry leaves that have not been torn off have the part near the leaf blade end clamped between the needle bars 12, when the annular blade 14 contacts the leaf stalk, the annular blade 14 can cut off the leaf stalk, and the mulberry leaves with the cut leaf stalk are still stacked between the needle bars 12.

[0040] In this embodiment, as shown in Figure 1 , Figure 2As shown, the top of the guide rod 22 on the same clamping handle 21 is connected through a connecting piece 23, the top of the guide rod 22 is fixed by the leaf collecting handle 11, the middle part of the guide rod 22 is limited by the clamping handle 21, and the top of the guide rod 22 is limited by the connecting piece 23, so that the guiding accuracy of the guide rod 22 can be ensured, and the guide rod 22 can also be prevented from being separated from the clamping handle 21 through the connecting piece 23.

[0041] In the embodiment, as shown in Figure 1 and Figure 3 , the inner side of the clamping end of the clamping handle 21 is provided with a soft pad 32, so that the soft contact between the branch and the clamping handle 21 is realized through the soft pad 32, so as to avoid the damage to the branch caused by the clamping handle 21, and because the wedge surface is arranged, the two clamping handles 21 are gradually closed, so as to avoid the damage to the branch caused by the instantaneous closing of the clamping handle 21. Preferably, the soft pad 32 is made of silica gel.

[0042] In the embodiment, as shown in Figure 1 and Figure 3 , the rotating ends of the two clamping handles 21 are engaged through the meshing gear pair 31, so that the opening and closing angles of the two clamping handles 21 are consistent.

[0043] In the embodiment, as shown in Figure 2 , a first installation slot is formed in the fixing seat 24, the clamping handle 21 is rotatably installed in the first installation slot through a rotating shaft, and the meshing gear pair 31 is located in the first installation slot. Preferably, the end of the rotating shaft is provided with a threaded section, which is threadedly connected with the side wall of the first installation slot corresponding to the threaded section. When disassembling, the clamping handle 21 can be disassembled by only taking out the rotating shaft.

[0044] In the embodiment, as shown in Figure 1 and Figure 4 , the top of the leaf collecting handle 11 is provided with a protruding column, and the two ends of the reset spring 29 are respectively installed on the corresponding protruding columns. The protruding column can be a screw, and the detachable connection between the screw and the leaf collecting handle 11 is realized.

[0045] In the embodiment, as shown in Figure 2 , a second installation slot is formed in the mounting portion, and the leaf collecting handle 11 is rotatably installed in the second installation slot through a rotating shaft, and the two leaf collecting 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 collecting handle 11 away from the ball 33 is opened, and vice versa, when the distance between the two balls 33 is increased, the end of the leaf collecting handle 11 away from the ball 33 is closed.

[0046] In the embodiment, as shown in Figure 2As shown, the limiting part 17 is provided with a third installation slot, the end of the leaf removing handle 13 is rotatably installed in the third installation slot through a rotating shaft, at least two guide rods 22 are installed on the leaf removing handle 13 and are arranged at intervals, the guide rods 22 extend upwards and pass through the corresponding leaf picking handle 13 and clamping handle 21 in sequence, when the leaf picking handle 11 is opened, the leaf removing handle 13 is also opened, and when the leaf picking handle 11 is closed, the leaf removing handle 13 is also closed.

[0047] In the embodiment, as shown in Figure 1 The upper surface of the leaf picking handle 11 is provided with two vertical columns 15, and the vertical columns 15 are arranged at the two ends of the leaf picking handle 11, so that the leaf removing handle 13 is subjected to a more uniform force and is convenient for resetting after removing leaves.

[0048] In the embodiment, as shown in Figure 1 A step is formed at the end of the rotating end of the leaf picking handle 11, and the ball 33 is rotatably installed at the step through a rotating shaft, and in the horizontal projection plane, part of the ball 33 is located outside the step, so that the ball 33 can roll along the inner side of the sliding plate 25, and in the embodiment, when the two leaf picking handles 11 are in the closed state, at least half of the ball 33 is covered by the wedge surface in the horizontal projection plane, so that when the nut 27 is ascending, the ball 33 can enter between the two wedge surfaces, and under the guidance of the wedge surfaces, the distance between the two balls 33 gradually decreases.

[0049] In the embodiment, as shown in Figure 1 and Figure 7 A sinking step is formed at the outer side of the top surface of the leaf picking handle 11, and the needle rods 12 are arranged at the sinking step, and the top of the needle rod 12 penetrates out of the sinking step, so that the top of the needle rod 12 is in a leaking state, thereby facilitating the pulling of the needle rod 12, and preferably, the needle rod 12 is made of steel needle.

[0050] According to the picking process of mulberry leaves, it is divided into an initial static state, a leaf picking preparation state, a leaf picking operation state, a separation from the branch state and a leaf removing handle 13 returning to the leaf picking preparation state, and the picking process of mulberry leaves by using the mulberry leaf picking machine according to the above states will be described in detail.

[0051] Initial static state: as shown in Figure 8 The nut 27 is at the bottom edge of the sliding plate 25, the reset spring 29 and the tension spring 16 are in the shortest state, at this time, the ball 33 is in pressure contact with the sliding plate 25, the clamping handle 21, the leaf picking handle 11 and the leaf removing handle 13 are in the closed state.

[0052] Leaf picking preparation state: as shown in Figure 9As shown, the driving motor 26 works, the nut 27 goes up, so that the leaf stalks 11 go up, in the process of the leaf stalks 11 going up, the balls 33 enter the wedge surface area, the wedge surface extrudes the balls 33, and the two leaf stalks 11 gradually open, when the balls 33 go up and leave the wedge surface area, at this time, the balls 33 contact the inner side of the slide plate 25, so as to open the two leaf stalks 11, at this time, the clamping handle 21 also opens with the opening of the leaf stalks 11, and in the process of the leaf stalks 11 going up, the tension spring 16 is gradually stretched, when the balls 33 enter the wedge surface area, at this time, the limiting part 17 abuts against the bottom of the slide plate 25, the leaf stalks 13 cannot move upward, the distance between the leaf stalks 13 and the leaf stalks 11 is pulled apart, when the leaf stalks 11 move to the upstroke, at this time, the bottom of the needle rod 12 is located in the leaf stalks 13, at this time, it enters the leaf picking preparation state.

[0053] Leaf picking operation state: as shown in Figure 10 The driving motor 26 works, and the nut 27 goes down, in the process of going down, when the balls 33 enter the wedge surface area, at this time, the two leaf stalks 11 gradually close, when the balls 33 leave the wedge surface area, the two leaf stalks 11 close under the action of the reset spring 29, and the leaf stalks 13 abut against the leaf stalks 11, at this time, the clamping handle 21 clamps the upper part of the branch, with the leaf stalks 13 and the leaf stalks 11 moving from top to bottom along the branch, in the process of moving, the mulberry leaf stalks are clamped between the adjacent two needle rods 12, and the needle rods 12 constitute the comb teeth, in the process of moving downward, the leaf stalks are pulled off from the branch, and the picked mulberry leaves are stacked between the comb teeth, so as to not easily cause damage to the leaf blades of the mulberry leaves, and the mulberry leaves that are not pulled off are cut off by the annular blade 14, and the cut-off leaf stalks of the mulberry leaves are still stacked between the needle rods 12, when the nut 27 moves to the downstroke, at this time, the mulberry leaves that can be picked on the branch are all picked, and the leaf picking operation of the mulberry leaves is completed.

[0054] Disengaging from the branch state: as shown in Figure 11 As shown, the driving motor 26 works, and the nut 27 goes up, when the balls 33 enter the wedge surface area, at this time, the leaf stalks 13 abut against the slide plate 25, with the leaf stalks 11 going up, the distance between the leaf stalks 13 and the leaf stalks 11 gradually increases, then the driving motor 26 stops working, at this time, the balls 33 are still in the wedge surface area, that is, there is contact pressure between the wedge surface and the balls 33, and the two leaf stalks 11 are in a half-open state, and the clamping handle 21 is also in a half-open state, then the multi-axis mechanical hand 200 moves, so that the clamping handle 21 and the whole picking mechanism disengage from the branch.

[0055] The leaf-stalk-removing device 13 is in the state of leaf-stalk-removing preparation: the mechanical hand moves the picked mulberry leaves to the mulberry leaf collecting area, and then the driving motor 26 works again, the leaf-stalk-picking device 11 goes up, the ball 33 enters the inner side wall between the two slide plates 25, in the process of the leaf-stalk-picking device 11 going up, the leaf-stalk-removing device 13 is pressed by the slide plates 25, and the leaf-stalk-removing device 13 moves downward relative to the needle rod 12, at this time, the mulberry leaves clamped between the needle rods 12 are removed from the needle rods 12 under the action of the leaf-stalk-removing device 13 and fall into the mulberry leaf collecting area, when the nut 27 moves to the upper stroke, the mulberry leaf is removed, at this time, as shown in the figure, the whole device enters the leaf-picking equipment state, and then the next mulberry branch can be picked. Figure 9

[0056] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​

Claims

1. A mulberry leaf picking machine, comprising a walking mechanism, wherein a multi-axis robotic arm is mounted on the walking mechanism, characterized in that: The multi-axis manipulator has a fixed base at its end, on which a lead screw assembly is mounted. The lead screw of the lead screw assembly extends vertically downward. A mounting portion is provided on the nut of the lead screw assembly, and a pair of leaf-collecting handles are mounted on the mounting portion. The two leaf-collecting handles are rotatably mounted on the nut. A first notch is provided on the inner side of each leaf-collecting handle, and a return spring is provided between the two leaf-collecting handles. Slides are mounted on the two outer walls of the fixed base. In the frontal projection plane, the bottom of the lead screw is located below the slides. The bottom inner side of the chute is provided with an outwardly flared wedge-shaped surface. A rotatable ball bearing is provided on the end of the leaf-collecting handle near the chute, and the ball bearing can slide along the corresponding inner side of the chute. A pair of clamping handles are mounted on the fixing base, and the two clamping handles are rotatably mounted on the fixing base. Several spaced needle bars are mounted on the leaf-collecting handle, and the needle bars extend downwards. A leaf-removing mechanism is also provided below the leaf-collecting handle. The leaf-removing mechanism includes a limiting part and a leaf-removing handle. A pair of... The leaf-collecting handle is equipped with leaf-removing stalks, and the two leaf-removing stalks can rotate relative to the limiting part. The inner side of the leaf-removing stalk has a second notch. Several columns are installed on the upper surface of the leaf-collecting handle. The upper end of the column is connected to one end of a tension spring, and the other end of the tension spring is connected to the corresponding leaf-removing stalk. Several needle rods are installed on the leaf-collecting handle. The needle rods extend axially downward and pass through the leaf-removing stalk. The limiting part is located below the slide. When the two leaf-collecting stalks are in the open state, the upper surface of the limiting part abuts against the bottom of the slide under the action of the tension spring. At least two spaced guide rods are installed on the leaf-removing stalk. The guide rods extend upward and pass through the corresponding leaf-collecting stalk and clamping handle in sequence. The leaf-removing stalk has a semi-circular structure. The arc-shaped inner wall of the leaf-removing stalk is the second notch. An axially downward extending annular blade is provided on the inner wall of the second notch. When the upper surface of the leaf-removing stalk abuts against the bottom of the leaf-collecting stalk, the bottom of the annular blade is located above the needle rod on the front projection plane.

2. The mulberry leaf harvesting machine according to claim 1, characterized in that: The leaf-collecting stalk has a semi-circular structure, and the needle rods are evenly distributed on the same circumference.

3. The mulberry leaf harvesting machine according to claim 1, characterized in that: The top of the guide rod located on the same clamping handle is connected by a connector.

4. A mulberry leaf harvesting machine according to claim 1, characterized in that: A soft pad is installed on the inner side of the clamping end of the clamping handle.

5. A mulberry leaf harvesting machine according to claim 1, characterized in that: The rotating ends of the two clamping handles are engaged by a gear pair.

6. A mulberry leaf harvesting machine according to claim 5, characterized in that: The fixed base has 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.

7. A mulberry leaf harvesting machine according to claim 1, characterized in that: The top outer side of the leaf-collecting stalk is provided with a settling step, the needle bar is distributed at the settling step, and the top of the needle bar protrudes through the settling step.

8. A mulberry leaf harvesting machine according to claim 1, characterized in that: The mounting part is provided with a second mounting groove, and the leaf-collecting handle is rotatably mounted in the second mounting groove via a rotating shaft.

9. A mulberry leaf harvesting machine according to claim 1, characterized in that: The leaf-collecting stalk has a step at its rotating end, and the ball bearing is rotatably mounted on the step via a rotating shaft.

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