Self-propelled leaf cutting device

Abstract

The invention relates to a self-propelled leaf cutting device, which belongs to the field of agricultural machinery and intelligent identification analysis and comprises a machine body, and a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device are arranged on the machine body. The water jet cutting device comprises a water collecting tank, a high-pressure water pump, a mechanical arm and a water jet head. The high-pressure water pump is located in the machine body. The mechanical arm is connected with the water cutter head, and the water cutter head is connected with the water collecting tank through a water pipe; the residual leaf collecting device comprises a residual leaf collecting box and a fan which are installed on the machine body, the fan is arranged at the bottom of the machine body and used for collecting residual leaves cut by the water jet cutter head to the residual leaf collecting box, and the residual leaf collecting box is connected with the fan through a pipeline; the intelligent recognition device comprises an infrared camera arranged at the bottom of the machine body and an intelligent analysis module arranged in the machine body, and the intelligent analysis module comprises a control mainboard, a computing center and an analysis module. The tobacco seedling leaf cutting accuracy can be improved, cut residual leaves are collected in cooperation with the water jet cutter and the fan, and the efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and intelligent identification and analysis, and in particular to a self-propelled leaf shearing device. Background Art

[0002] In recent years, the flue-cured tobacco seedling industry has gradually developed in the direction of specialization, intensiveness and integration. This series of changes has brought many advantages to tobacco planting. Among them, the leaf cutting and seedling hardening of tobacco seedlings plays a vital role in cultivating strong seedlings. Through scientific and reasonable leaf cutting and seedling hardening operations, the growth trend of tobacco seedlings can be effectively controlled, the stems of tobacco seedlings can be made thick and the leaves can be made thick, and their stress resistance can be enhanced, laying a good foundation for subsequent transplanting and growth. Moreover, this method facilitates the unified management and picking of tobacco seedlings, which is conducive to the realization of large-scale and standardized tobacco production.

[0003] However, in the current leaf cutting work, most of the leaf cutting work still relies on manual work. In the process of manual leaf cutting, since the operators need to frequently contact the tobacco seedlings, this can easily lead to the spread of viral diseases between tobacco seedlings. Once a tobacco seedling is infected with the virus, it is likely to transmit the virus to other healthy tobacco seedlings through tools such as scissors during the leaf cutting operation, which will have a serious impact on the entire seedling cultivation work. In addition, the efficiency of manual leaf cutting is very limited. Factors such as the operator's proficiency, work intensity, and fatigue level will affect the speed of leaf cutting, making it difficult to meet the requirements of large-scale seedling cultivation for leaf cutting speed.

[0004] Therefore, in the leaf cutting work of flue-cured tobacco seedlings, it is necessary to effectively avoid the virus transmission problem caused by manual leaf cutting, greatly improve the leaf cutting efficiency and reduce labor costs. Summary of the invention

[0005] In view of the above-mentioned prior art, the influence of manual leaf cutting on virus transmission and efficiency in leaf cutting work of flue-cured tobacco seedling cultivation is proposed. The present invention provides a self-propelled leaf cutting device capable of automatically cutting leaves: In order to solve the above technical problems, the present invention adopts the following technical solutions: a self-propelled leaf cutting device, comprising a machine body, on which a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device are provided; the water jet cutting device comprises a water collecting tank, a high-pressure water pump, a mechanical arm and a water jet head, and the high-pressure water pump is located inside the machine body; the mechanical arm is connected to the water jet head, and the water jet head and the water collecting tank are connected through a water pipe; the residual leaf collecting device comprises a residual leaf collection box and a fan installed on the machine body, and the fan is arranged at the bottom of the machine body for collecting the residual leaves cut by the water jet head to the residual leaf collection box, and the residual leaf collection box and the fan are connected through a pipe; the intelligent identification device comprises an infrared camera arranged at the bottom of the machine body and an intelligent analysis module arranged inside the machine body.

[0006] Furthermore, the robotic arm includes a base, the base is circumferentially rotated and connected to an adjustment seat, the adjustment seat is pitch-rotated and connected to a first rocker arm, a first adjustment shaft is provided between the first rocker arm and the adjustment seat, an end of the first rocker arm away from the adjustment seat is rotatably connected to a second rocker arm via an adjustment motor, and the water jet head is installed at an end of the second rocker arm away from the adjustment motor.

[0007] Furthermore, a first telescopic rod is connected between the first rocker arm and the second rocker arm, and two ends of the first telescopic rod are rotatably connected to the first rocker arm and the second rocker arm respectively.

[0008] Furthermore, a second telescopic rod is provided at the front end of the second rocker arm, and the water jet head is mounted on the second telescopic rod.

[0009] Furthermore, a water outlet is provided at the bottom of the water collecting tank, one end of the water pipe is connected to the water outlet of the water collecting tank, and the other end is connected to the water knife head.

[0010] Furthermore, the fan includes an air inlet volute, a conveying pipe is connected between the air inlet volute and the residual leaf collection box, the air inlet of the air inlet volute faces the water knife head, and the residual leaves enter the residual leaf collection box along the air inlet of the air inlet volute and the conveying pipe.

[0011] Furthermore, the self-propelled device includes two axles arranged in parallel at the bottom of the body, and a motor is coaxially arranged at both ends of at least one axle, and the output end of the motor is connected to the wheel.

[0012] Furthermore, a support rod is provided between the outer shell of the motor and the bottom of the body.

[0013] Furthermore, the support rod is a hydraulic spring support rod.

[0014] In summary, the present invention has the following beneficial effects: (1) The self-propelled leaf cutting device integrates a water jet cutting device, a residual leaf collection device, an intelligent identification device and a self-propelled device. The water jet cutting device uses a water jet head for cutting, effectively avoiding damage to other parts of the plant. The residual leaf collection device can collect the residual leaves after cutting in time. The intelligent identification device can accurately identify the area and leaf conditions that need to be cut through an infrared camera and an intelligent analysis module to achieve precise leaf cutting. The self-propelled device gives the device the ability to move autonomously. When the water jet is cutting leaves, the high-pressure water flow it sprays itself has a certain cleaning and disinfecting effect.

[0015] (2) The mechanical arm can rotate freely, the adjustment seat can pitch and rotate, and the first rocker arm and the second rocker arm can rotate by adjusting the motor connection. This multi-joint, multi-angle design allows the water knife head to flexibly adjust its position and angle. It can adapt to different plant heights, shapes and leaf distributions, cut leaves more accurately, and improve the flexibility and accuracy of leaf cutting.

[0016] (3) The air inlet of the fan's air inlet volute faces the water knife head and is connected to the residual leaf collection box through a conveying pipe. When the fan is working, negative pressure is formed near the air inlet, which can quickly suck in the residual leaves cut by the water knife head and transport them to the residual leaf collection box through the conveying pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a self-propelled leaf shearing device.

[0018] Figure 2 Schematic diagram of the robotic arm structure.

[0019] Figure 3 This is a top view of a self-propelled leaf shearing device.

[0020] Figure 4 This is a schematic diagram of a self-propelled leaf shearing device viewed from above.

[0021] Among them, the description of the accompanying drawings is as follows: 1. water collecting tank, 101. water outlet; 2. residual leaf collecting box, 3. water pipe, 4. body; 5. mechanical arm, 501. base; 502. adjustment seat; 503. first rocker arm; 504. first adjustment axis; 505. second rocker arm; 506. first telescopic rod; 507. second telescopic rod; 6. water knife head; 7. infrared camera; 8. fan, 801. delivery pipe; 10. motor; 11. wheel; 12. support rod. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with embodiments.

[0023] Embodiment 1: Leaf cutting in flue-cured tobacco seedling cultivation is an important technical measure in the process of flue-cured tobacco seedling cultivation. This embodiment provides a self-propelled leaf cutting device, such as Figures 1 to 4 As shown, it includes a body 4, on which a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device are provided; the water jet cutting device includes a water collecting box 1, a high-pressure water pump, a mechanical arm 5 and a water jet head 6, and the high-pressure water pump is located inside the body 4; the mechanical arm 5 is connected to the water jet head 6, and the water jet head 6 is connected to the water collecting box 1 through a water pipe 3; the residual leaf collecting device includes a residual leaf collecting box 2 and a fan 8 installed on the body 4, and the fan 8 is arranged at the bottom of the body 4 for collecting the residual leaves cut by the water jet head 6 to the residual leaf collecting box 2, and the residual leaf collecting box 2 and the fan 8 are connected by a pipeline; the intelligent identification device includes an infrared camera 7 arranged at the bottom of the body 4 and an intelligent analysis module arranged inside the body 4.

[0024] The self-propelled leaf cutting device integrates a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device. This integrated design makes the leaf cutting operation more efficient and convenient, and improves work efficiency.

[0025] Among them, the intelligent analysis module includes a control mainboard, a computing center, and an analysis module. The intelligent recognition device can accurately identify the area where leaves need to be cut and the condition of the leaves through the infrared camera 7 and the intelligent analysis module, and intelligently analyze the location and size of the leaves that need to be trimmed. The working mode of the infrared camera 7 includes real-time photo analysis of the tobacco leaf condition to achieve precise leaf cutting, and the fan 8 absorbs the cut waste leaves to improve the intelligence level of the operation. The self-propelled device gives the device the ability to move autonomously, saving manpower, and can move in the field according to the set route or mode, improving the coverage and efficiency of the operation.

[0026] The water collecting tank 1, the water pipe 3, and the water knife head 6 can be connected in a trinity. The water collecting tank 1 provides a water source for the water knife, the water knife cutting device uses the water knife head 6 for cutting, and the residual leaf collecting device can collect the cut residual leaves in time. In the process of impacting the blades, the high-pressure water can flush harmful substances such as pathogens and insect eggs that may exist on the surface of the blades away from the surface of the blades, effectively destroying their living environment. Moreover, in some designs, an appropriate amount of harmless disinfectant can be added to the water source of the water knife. These disinfectants can be more evenly covered on the surface of the blades under the drive of the high-pressure water flow, further enhancing the disinfection effect. Compared with traditional manual disinfection methods, this disinfection mode synchronized with the leaf cutting process is not only more efficient, but also avoids the omissions and unevenness that may exist in manual disinfection.

[0027] Embodiment 2: like Figure 2 As shown, a self-propelled leaf shearing device based on Example 1 includes a body 4, on which a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device are provided. During implementation, a mechanical arm 5 includes a base 501, the base 501 is circumferentially rotatably connected to an adjustment seat 502, the adjustment seat 502 is pitch-rotatably connected to a first rocker arm 503, a first adjustment shaft 504 is provided between the first rocker arm 503 and the adjustment seat 502, the end of the first rocker arm 503 away from the adjustment seat 502 is rotatably connected to a second rocker arm 505 via a second adjustment shaft, and the water jet head 6 is installed at the end of the second rocker arm 505 away from the second adjustment shaft. A first telescopic rod 506 is connected between the first rocker arm 503 and the second rocker arm 505, and the two ends of the first telescopic rod 506 are rotatably connected to the first rocker arm 503 and the second rocker arm 505, respectively.

[0028] By changing the angle between the rocker arms, the range of motion of the robot arm 5 can be effectively expanded. When the telescopic rod is extended, it will generate an outward thrust on the first rocker arm 503 and the second rocker arm 505. Since the telescopic rod is connected between the two rocker arms, this thrust will increase the angle between the two rocker arms. Conversely, when the telescopic rod is shortened, it will pull the two rocker arms to reduce the angle between them.

[0029] During implementation, the base 501 of the mechanical arm 5 can rotate in a circumferential direction, the first rocker arm 503 can rotate in pitch, and the front end of the second rocker arm 505 is provided with a second telescopic rod 507, and the water knife head 6 is installed on the second telescopic rod 507. The water knife head 6 can flexibly adjust the position and angle. It can adapt to different plant heights, shapes and leaf distribution conditions, cut the leaves more accurately, and improve the flexibility and accuracy of leaf cutting.

[0030] like Figure 1 As shown, a water outlet 101 is provided at the bottom of the water collecting tank 1, one end of the water pipe 33 is connected to the water outlet 101 of the water collecting tank 1, and the other end is connected to the water cutter head 6. The water outlet 101 at the bottom of the water collecting tank 11 is connected to the water cutter head 6 through the water pipe 3, providing a stable water supply to the water cutter head 6.

[0031] During implementation, the fan 8 includes an air intake volute, and a delivery pipe 801 is connected between the air intake volute and the residual leaf collection box 2. The air inlet of the air intake volute faces the water knife head 6, and the residual leaves enter the residual leaf collection box 2 along the air inlet of the air intake volute and the delivery pipe 801. The air inlet of the air intake volute of the fan 8 faces the water knife head 6, and is connected to the residual leaf collection box 2 through the delivery pipe 801. When the fan 8 is working, a negative pressure is formed near the air intake, which can quickly suck in the residual leaves cut by the water knife head 6 and deliver them to the residual leaf collection box 2 through the delivery pipe 801, reducing the possibility of residual leaves being missed and keeping it clean.

[0032] The self-propelled device includes two axles arranged in parallel at the bottom of the body 4, and motors 10 are coaxially arranged at both ends of the axles, and the output end of the motor 10 is connected to the wheel 11. The two axles of the self-propelled device are arranged in parallel at the bottom of the body 4, and the motor 10 is coaxially arranged at both ends of at least one axle, and the output end of the motor 10 is connected to the wheel 11. Preferably, each wheel 11 is driven by an independent motor 10, which can achieve more flexible steering and speed control and adapt to the requirements of different terrains and working routes.

[0033] A support rod 12 is provided between the housing of the motor 10 and the bottom of the body 4. The support rod 12 is provided between the housing of the motor 10 and the bottom of the body 4 to reduce the shaking and vibration of the body 4 during the walking and operation of the device, and to improve the passability of the self-propelled leaf shearing device. The support rod 12 is a hydraulic spring support rod 12, which has good buffering and shock absorption performance. When the device passes through uneven ground or encounters obstacles, the hydraulic spring support rod 12 can absorb and buffer the impact force, further protect the motor 10 and the entire self-propelled device, reduce the damage to the device structure and components due to vibration, and ensure the stable operation of the device.

[0034] The motor converts electrical energy into mechanical energy, providing the necessary torque and speed for the wheels, thereby driving the device forward, backward or turning. The movement state of the wheel is fed back to the motor control to form a closed-loop regulation. The device is equipped with sensors on the body or wheel side. The sensors in the self-propelled device can sense the environment and internal state of the device in real time, and convert this information into electrical signals for transmission to the control system. The functions include monitoring speed and position to ensure precise control; monitoring current, voltage, temperature, etc. to protect the motor and optimize control; detecting obstacles and road conditions, supporting obstacle avoidance and path planning, etc.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-propelled leaf shearing device, characterized in that: The invention comprises a machine body (4), wherein the machine body (4) is provided with a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device; the water jet cutting device comprises a water collecting box (1), a high-pressure water pump, a mechanical arm (5) and a water jet head (6), wherein the high-pressure water pump is located inside the machine body (4); the mechanical arm (5) is connected to the water jet head (6), and the water jet head (6) and the water collecting box (1) are connected via a water pipe (3); the residual leaf collecting device comprises a residual leaf collecting box (2) and a fan (8) mounted on the machine body (4), wherein the fan (8) is arranged at the bottom of the machine body (4) and is used to collect the residual leaves cut by the water jet head (6) into the residual leaf collecting box (2), and the residual leaf collecting box (2) and the fan (8) are connected via a pipe; the intelligent identification device comprises an infrared camera (7) arranged at the bottom of the machine body (4) and an intelligent analysis module arranged inside the machine body (4).

2. The self-propelled leaf cutting device according to claim 1, characterized in that: The mechanical arm (5) comprises a base (501), the base (501) is connected to an adjustment seat (502) in a circumferentially rotatable manner, the adjustment seat (502) is connected to a first rocker arm (503) in a pitching rotatable manner, a first adjustment shaft (504) is provided between the first rocker arm (503) and the adjustment seat (502), an end of the first rocker arm (503) away from the adjustment seat (502) is rotatably connected to a second rocker arm (505) via a second adjustment shaft, and the water jet head (6) is mounted on an end of the second rocker arm (505) away from the second adjustment shaft.

3. The self-propelled leaf cutting device according to claim 2, characterized in that: A first telescopic rod (506) is connected between the first rocker arm (503) and the second rocker arm (505), and two ends of the first telescopic rod (506) are rotatably connected to the first rocker arm (503) and the second rocker arm (505) respectively.

4. The self-propelled leaf cutting device according to claim 3, characterized in that: A second telescopic rod (507) is provided at the front end of the second rocker arm (505), and the water jet head (6) is mounted on the second telescopic rod (507).

5. The self-propelled leaf cutting device according to claim 1, characterized in that: The water collecting tank (1) is provided with a water outlet (101) at the bottom, and one end of the water pipe (3) is connected to the water outlet (101) of the water collecting tank (1), and the other end is connected to the water knife head (6).

6. The self-propelled leaf trimmer device according to claim 1, characterized in that: The fan (8) comprises an air intake volute, a delivery pipe (801) is connected between the air intake volute and the residual leaf collection box (2), the air intake of the air intake volute faces the water knife head (6), and the residual leaves enter the residual leaf collection box (2) along the air intake of the air intake volute and the delivery pipe (801).

7. The self-propelled leaf trimmer device according to claim 1, characterized in that: The self-propelled device comprises two axles arranged in parallel at the bottom of the machine body (4), at least one axle having a motor (10) coaxially arranged at both ends, and the output end of the motor (10) is connected to a wheel (11).

8. The self-propelled leaf trimmer device according to claim 7, characterized in that: A support rod (12) is provided between the outer shell of the motor (10) and the bottom of the machine body (4).

9. The self-propelled leaf trimmer device according to claim 8, characterized in that: The support rod (12) is a hydraulic spring support rod (12).

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