Mechanical arm assisted tree leaf picking machine

Abstract

This invention belongs to the field of intelligent horticultural machinery, and specifically relates to a robotic arm-assisted mulberry leaf harvesting machine. A mulberry leaf harvesting machine is designed to harvest leaves from irregularly shaped, tall mulberry trees without damaging the branches. This invention discloses a robotic arm-assisted mulberry leaf harvesting machine, including a body, a large arm, a small arm, an insert plate, a cutting component, a corrugated pipe, and a linkage component. The body includes a casing, track wheels, a base, an operating table, etc., and a compression pipe structure on the top. The large arm connects to the base, and the small arm connects to the large arm and has sensors at its front end. The insert plate is easy to pull out. The cutting component is used to chop the leaves. The corrugated pipe is flexible and provides a sealed connection to the compression pipe. The linkage component is inside the corrugated pipe, preventing leaf bridging and cutting the leaves while pushing them downwards. The operating table controls the leaf harvesting action, the sensors identify the leaves, air is blown downwards during blade cutting, the pressure rod is detachably connected to the blade shaft, a fixing ring is installed inside the corrugated ring of the corrugated pipe, and the arm base is rotatable.

Description

Technical Field

[0001] This invention belongs to the field of intelligent horticultural machinery, and specifically relates to a robotic arm-assisted leaf picking machine. Background Technology

[0002] The leaves of the paper mulberry tree are rich in protein, typically ranging from 20% to 30%, similar to traditional protein feeds like soybean meal. The crude protein is primarily composed of various amino acids, including essential amino acids for livestock growth such as lysine, methionine, and threonine. These amino acids play a crucial role in livestock growth and development, maintaining bodily functions, and maximizing production performance. Paper mulberry leaves have long been used to feed pigs, cattle, and sheep. However, currently, many paper mulberry leaves are harvested along with the branches, resulting in poor palatability of the final silage. Therefore, a machine capable of harvesting only the leaves without damaging the branches is needed. Generally, paper mulberry branches grow in all directions, making harvesting difficult. Several harvesting machines currently exist (CN111357493A; CN111357494A; CN111357491A; CN111296061A; CN111296060A; CN111296059A). These designs either damage branches, have low harvesting efficiency, or leave branches mixed with leaves. Therefore, it is necessary to design a harvesting machine that is highly efficient, can separate branches from leaves, and does not damage branches. Summary of the Invention

[0003] To address the aforementioned technical problems, based on the structures of the previously mentioned machines, this invention designs a robotic arm-assisted leaf-picking machine. The picking machine includes a body 1, a large arm 2, a small arm 3, an insert plate 4, a cutting component 5, a corrugated pipe 6, and a linkage component 7. The body 1 is the main body of the picking machine; the large arm 2 is mounted on its upper part, and the small arm 3 is mounted on the large arm 2; the insert plate 4 is mounted at the rear of the body 1; the cutting component 5 is mounted on the top of the body 1; the corrugated pipe 6 is mounted on the top of the body 1; and the linkage component 7 is installed inside the corrugated pipe 6.

[0004] The main body of the machine body 1 is a chassis 1.1; track wheels 1.2 are provided at the lower part of the chassis 1.1; a base 1.3 is provided on one side of the upper part of the chassis 1.1; an operating platform 1.4 is provided on the upper part of the chassis 1.1 in front of the base 1.3; an arm support 1.5 is provided on the other side of the chassis 1.1; a compression pipe 1.6 is provided on the top of the chassis 1.1 between the arm support 1.5 and the base 1.3; a strip frame 1.7 is provided at the bottom of the compression pipe 1.6; and a strip shaft hole 1.8 is provided in the middle of the strip frame. The strip shaft hole 1.8 is used to place the cutting part 5; a material gate 1.9 is provided at the rear of the machine housing 1.1; several flat pressure holes 1.10 are opened on the top of the machine housing 1.1 on the rear side of the compression tube 1.6; a support rod 1.11 is fixedly installed at the bottom of the machine housing 1.1, and the support rod 1.11 is located at the lower part of the compression tube 1.6; a support plate 1.12 is provided on the upper part of the support rod 1.11; the support plate 1.12 is used to vertically fix the motor 1.13; the top of the motor 1.13 extends out of the machine shaft 1.14.

[0005] The main body of the boom 2 is the boom rod 2.1; the rear end of the boom rod 2.1 is the boom rear connector 2.2; the boom rear connector 2.2 is connected to the base 1.3; the front end of the boom rod 2.1 is the boom front connector 2.3; the boom front connector 2.3 is used to connect the forearm 3.

[0006] The main body of the forearm 3 is the forearm rod 3.1; the rear end of the forearm rod 3.1 is the forearm rear connector 3.2; the forearm rear connector 3.2 is connected to the upper arm front connector 2.3; a sensor 3.3 is provided at the front end of the forearm 3; a fixing ring 3.4 is provided at the rear side of the forearm rod 3.1; the fixing ring 3.4 is connected to the forearm rod 3.1 through a connecting rod; the fixing ring 3.4 is used to fix the bellows 6; a collar 3.5 is provided at the front side of the forearm rod 3.1; the collar 3.5 is used to fix the front end of the bellows 6 and is movably connected to the front end of the linkage 7; the collar 3.5 is connected to the forearm rod 3.1 through a connecting rod; several arc-shaped shaft baskets 3.6 are provided at the front side of the collar 3.5; the shaft baskets 3.6 are connected together through basket head rings 3.7.

[0007] The insert plate 4 includes a door 4.1; a pull plate 4.2 is provided on the top of the door 4.1; the pull plate 4.2 facilitates personnel to pull out the insert plate 4; the insert plate 4 is mounted on the material gate 1.9.

[0008] The middle part of the pressure cutting component 5 is a pressure shaft 5.1; a pressure coil 5.2 is fixedly installed on the outside of the pressure shaft 5.1; the pressure coil 5.2 is auger-shaped; a pressure shaft head 5.3 is provided at the upper end of the pressure shaft 5.1; the pressure shaft head 5.3 is used to connect the linkage component 7; a pressure shaft rod 5.4 is provided at the bottom of the pressure shaft head 5.3; the pressure shaft rod 5.4 passes through the bar shaft hole 1.8 and can rotate within the bar shaft hole 1.8; a cutter shaft 5.5 is provided at the other end of the pressure shaft rod 5.4; cutter blades 5.6 are evenly arranged around the cutter shaft 5.5; the cutter blades 5.6 are used to cut the blades; the bottom of the cutter shaft 5.5 is connected to the machine shaft 1.14.

[0009] The main body of the corrugated pipe 6 is a hollow tube 6.1; the tube 6.1 is provided with corrugated rings 6.2 at equal intervals; one end of the corrugated pipe 6 is installed on the top of the compression pipe 1.6; the other end of the corrugated pipe 6 is fixed on the collar 3.5.

[0010] The linkage 7 has a flexible strip 7.1 in the middle; the flexible strip 7.1 is provided with strip shafts 7.2 at equal intervals; the flexible strip 7.1 can rotate within the strip shafts 7.2, and the outer side of the strip shafts 7.2 is provided with spokes 7.3 radially; the outer side of the spokes 7.3 is connected to an annular fixing ring 7.4; the flexible strip 7.1 between the fixing rings 7.4 is provided with a vibrating element 7.5; the vibrating element 7.5 is rotated downward to push the blade downward; the two adjacent vibrating elements 7.5... The opposite orientation of the leaves is used to prevent them from bridging and falling inside the corrugated pipe; the lower end of the flexible strip 7.1 is connected to the pressure head 5.3; the front end of the flexible strip 7.1 is uniformly provided with arc-shaped twisting strips 7.6; the twisting strips 7.6 are used to cut the leaves from the branches and put them into the corrugated pipe 6; the other end of the twisting strips 7.6 is connected by a shaft support ring 7.7; the shaft support ring 7.7 is mounted on the shaft ring 3.5 and can rotate within the shaft ring 3.5.

[0011] Sensor 3.3 is used to identify paper mulberry leaves.

[0012] The bellows 6 is sealed to the compression pipe 1.6.

[0013] The arm 1.5 can rotate on the chassis 1.1.

[0014] The control panel 1.4 is used to control the leaf-picking action of the harvester.

[0015] Blade 5.6 has the function of downward airflow during the cutting process.

[0016] The pressure rod 5.4 and the cutter shaft 5.5 are detachably connected.

[0017] The retaining ring 7.4 is installed inside the bell ring 6.2; the inner wall of the retaining ring 7.4 is at the same level as the inner surface of the tube 6.1.

[0018] The bellows 6 has tensile and torsional toughness.

[0019] The beneficial technical effects of this invention are as follows:

[0020] The invention's various points are further elaborated below, combining technical features and effects: 1. This application includes a cutting element, a bellows, and a linkage; the connection between the compression pipe and the bellows is sealed. The cutting element is equipped with an auger structure, which, in addition to pushing the leaves downwards, creates a high negative pressure inside the bellows during high-speed rotation due to its location within the pipe. This guides the leaves at the front end of the bellows into the gaps of the shaft bars under negative pressure. After rotating the linkage, the misalignment of the auger bars and the shaft bars removes the leaves. 2. The linkage of this application includes a shaft, spokes, and a retaining ring. It supports the soft bar, preventing it from hitting the bellows and allowing it to rotate freely. Furthermore, the retaining ring is installed inside the bellows, with its inner wall at the same level as the inner surface of the pipe, making it more stable and preventing slippage, while also reducing resistance to the downward movement of the leaves. 3. This application designs a pressure-shearing component that can generate strong negative pressure. However, the corrugated pipe has internal corrugations for expansion and contraction, and the concave rings within them can create resistance to the leaves. To prevent bridging, this application designs a vibrating element on the flexible strip, which is blade-shaped, and adjacent vibrating elements are arranged in opposite directions. During the rotation of the flexible strip, it can push the blades downwards and simultaneously generate eccentric rotation, which can prevent bridging of the blades. Attached Figure Description

[0021] Figure 1 , one Assembly diagram and perspective view of a robotic arm-assisted leaf-picking machine.

[0022] Figure 2 , one Disassembly diagram of a robotic arm-assisted leaf-picking machine.

[0023] Figure 3 A schematic diagram of the organism's structure.

[0024] Figure 4 Diagram of the upper arm and forearm structure.

[0025] Figure 5 Schematic diagram of the door and the pressing and cutting component.

[0026] Figure 6 A schematic diagram of the structure of the corrugated pipe and the linkage bar.

[0027] In the diagram, 1 is the main body, 2 is the upper arm, 3 is the lower arm, 4 is the insert plate, 5 is the pressing and cutting part, 6 is the corrugated pipe, and 7 is the linkage part.

[0028] 1.1 Chassis, 1.2 Track wheel, 1.3 Base, 1.4 Operating table, 1.5 Arm seat, 1.6 Compression pipe, 1.7 Bar frame, 1.8 Bar shaft hole, 1.9 Material gate, 1.10 Flat pressure hole, 1.11 Support rod, 1.12 Support plate, 1.13 Motor, 1.14 Shaft.

[0029] 2.1 boom rod, 2.2 boom rear joint, 2.3 boom front joint.

[0030] 3.1 Forearm rod, 3.2 Forearm rear connector, 3.3 Sensor, 3.4 Fixing ring, 3.5 Shaft collar, 3.6 Shaft basket strip, 3.7 Basket head ring.

[0031] Panel door 4.1, pull panel 4.2.

[0032] 5.1 Pressure shaft, 5.2 Pressure coil, 5.3 Pressure shaft head, 5.4 Pressure shaft rod, 5.5 Cutter shaft, 5.6 Cutter blade.

[0033] Tube 6.1, bellows 6.2.

[0034] 7.1 Flexible bar, 7.2 Bar shaft, 7.3 Bar spoke, 7.4 Fixing ring, 7.5 Vibrating element, 7.6 Shaft bar, 7.7 Shaft support ring. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-6 The specific structure of the present invention is further illustrated by the embodiments: The harvester includes a body 1, a large arm 2, a small arm 3, an insert plate 4, a cutting component 5, a corrugated pipe 6, and a linkage component 7; the body 1 is the main body of the harvester; the large arm 2 is installed on its upper part, and the small arm 3 is installed on the large arm 2; the insert plate 4 is installed at the rear of the body 1; the cutting component 5 is installed at the top of the body 1; the corrugated pipe 6 is installed at the top of the body 1; and the linkage component 7 is installed inside the corrugated pipe 6.

[0036] The main body of the machine body 1 is a chassis 1.1; track wheels 1.2 are provided at the lower part of the chassis 1.1; a base 1.3 is provided on one side of the upper part of the chassis 1.1; an operating platform 1.4 is provided on the upper part of the chassis 1.1 in front of the base 1.3; an arm support 1.5 is provided on the other side of the chassis 1.1; a compression pipe 1.6 is provided on the top of the chassis 1.1 between the arm support 1.5 and the base 1.3; a strip frame 1.7 is provided at the bottom of the compression pipe 1.6; and a strip shaft hole 1.8 is provided in the middle of the strip frame. The strip shaft hole 1.8 is used to place the cutting part 5; a material gate 1.9 is provided at the rear of the machine housing 1.1; several flat pressure holes 1.10 are opened on the top of the machine housing 1.1 on the rear side of the compression tube 1.6; a support rod 1.11 is fixedly installed at the bottom of the machine housing 1.1, and the support rod 1.11 is located at the lower part of the compression tube 1.6; a support plate 1.12 is provided on the upper part of the support rod 1.11; the support plate 1.12 is used to vertically fix the motor 1.13; the top of the motor 1.13 extends out of the machine shaft 1.14.

[0037] The main body of the boom 2 is the boom rod 2.1; the rear end of the boom rod 2.1 is the boom rear connector 2.2; the boom rear connector 2.2 is connected to the base 1.3; the front end of the boom rod 2.1 is the boom front connector 2.3; the boom front connector 2.3 is used to connect the forearm 3.

[0038] The main body of the forearm 3 is the forearm rod 3.1; the rear end of the forearm rod 3.1 is the forearm rear connector 3.2; the forearm rear connector 3.2 is connected to the upper arm front connector 2.3; a sensor 3.3 is provided at the front end of the forearm 3; a fixing ring 3.4 is provided at the rear side of the forearm rod 3.1; the fixing ring 3.4 is connected to the forearm rod 3.1 through a connecting rod; the fixing ring 3.4 is used to fix the bellows 6; a collar 3.5 is provided at the front side of the forearm rod 3.1; the collar 3.5 is used to fix the front end of the bellows 6 and is movably connected to the front end of the linkage 7; the collar 3.5 is connected to the forearm rod 3.1 through a connecting rod; several arc-shaped shaft baskets 3.6 are provided at the front side of the collar 3.5; the shaft baskets 3.6 are connected together through basket head rings 3.7.

[0039] The insert plate 4 includes a door 4.1; a pull plate 4.2 is provided on the top of the door 4.1; the pull plate 4.2 facilitates personnel to pull out the insert plate 4; the insert plate 4 is mounted on the material gate 1.9.

[0040] The middle part of the pressure cutting component 5 is a pressure shaft 5.1; a pressure coil 5.2 is fixedly installed on the outside of the pressure shaft 5.1; the pressure coil 5.2 is auger-shaped; a pressure shaft head 5.3 is provided at the upper end of the pressure shaft 5.1; the pressure shaft head 5.3 is used to connect the linkage component 7; a pressure shaft rod 5.4 is provided at the bottom of the pressure shaft head 5.3; the pressure shaft rod 5.4 passes through the bar shaft hole 1.8 and can rotate within the bar shaft hole 1.8; a cutter shaft 5.5 is provided at the other end of the pressure shaft rod 5.4; cutter blades 5.6 are evenly arranged around the cutter shaft 5.5; the cutter blades 5.6 are used to cut the blades; the bottom of the cutter shaft 5.5 is connected to the machine shaft 1.14.

[0041] The main body of the corrugated pipe 6 is a hollow tube 6.1; the tube 6.1 is provided with corrugated rings 6.2 at equal intervals; one end of the corrugated pipe 6 is installed on the top of the compression pipe 1.6; the other end of the corrugated pipe 6 is fixed on the collar 3.5.

[0042] The linkage 7 has a flexible strip 7.1 in the middle; the flexible strip 7.1 is provided with strip shafts 7.2 at equal intervals; the flexible strip 7.1 can rotate within the strip shafts 7.2, and the outer side of the strip shafts 7.2 is provided with spokes 7.3 radially; the outer side of the spokes 7.3 is connected to an annular fixing ring 7.4; the flexible strip 7.1 between the fixing rings 7.4 is provided with a vibrating element 7.5; the vibrating element 7.5 is rotated downward to push the blade downward; the two adjacent vibrating elements 7.5... The opposite orientation of the leaves is used to prevent them from bridging and falling inside the corrugated pipe; the lower end of the flexible strip 7.1 is connected to the pressure head 5.3; the front end of the flexible strip 7.1 is uniformly provided with arc-shaped twisting strips 7.6; the twisting strips 7.6 are used to cut the leaves from the branches and put them into the corrugated pipe 6; the other end of the twisting strips 7.6 is connected by a shaft support ring 7.7; the shaft support ring 7.7 is mounted on the shaft ring 3.5 and can rotate within the shaft ring 3.5.

[0043] Sensor 3.3 is used to identify paper mulberry leaves. The bellows 6 is sealed to the compression pipe 1.6. The arm 1.5 is rotatable on the housing 1.1. The control panel 1.4 is used to control the leaf-picking action of the harvester.

[0044] The blade 5.6 provides downward airflow during the cutting process. The pressure rod 5.4 is detachably connected to the blade shaft 5.5. The retaining ring 7.4 is installed inside the bellows 6.2. The bellows 6 possesses tensile and torsional toughness.

[0045] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. For example, the connection method may be other than that of a connecting post. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mechanical arm assisted tree leaf picking machine, characterized in that, The harvester includes a body (1), a large arm (2), a small arm (3), a plate (4), a cutting component (5), a corrugated pipe (6), and a linkage component (7); the body (1) is the main body of the harvester; the large arm (2) is installed on its upper part, and the small arm (3) is installed on the large arm (2); the plate (4) is installed at the rear of the body (1); the cutting component (5) is installed at the top of the body (1); the corrugated pipe (6) is installed at the top of the body (1); and the linkage component (7) is installed inside the corrugated pipe (6). The main body of the machine body (1) is a chassis (1.1); track wheels (1.2) are provided at the lower part of the chassis (1.1); a base (1.3) is provided on one side of the upper part of the chassis (1.1); an operating platform (1.4) is provided on the upper part of the chassis (1.1) in front of the base (1.3); an arm support (1.5) is provided on the other side of the chassis (1.1); a compression pipe (1.6) is provided on the top of the chassis (1.1) between the arm support (1.5) and the base (1.3); a strip frame (1.7) is provided at the bottom of the compression pipe (1.6); a strip shaft hole (1.8) is provided in the middle of the strip frame. The strip shaft hole (1.8) is used to place the cutting part (5); a material gate (1.9) is provided at the rear of the machine box (1.1); several flat pressure holes (1.10) are opened on the top of the machine box (1.1) on the rear side of the compression pipe (1.6); a support rod (1.11) is fixedly installed at the bottom of the machine box (1.1), and the support rod (1.11) is located at the lower part of the compression pipe (1.6); a support plate (1.12) is provided on the upper part of the support rod (1.11); the support plate (1.12) is used to vertically fix the motor (1.13); the top of the motor (1.13) extends out of the machine shaft (1.14). The main body of the boom (2) is the boom rod (2.1); the rear end of the boom rod (2.1) is the boom rear connector (2.2); the boom rear connector (2.2) is connected to the base (1.3); the front end of the boom rod (2.1) is the boom front connector (2.3); the boom front connector (2.3) is used to connect the forearm (3). The main body of the forearm (3) is the forearm rod (3.1); the rear end of the forearm rod (3.1) is the forearm rear connector (3.2); the forearm rear connector (3.2) is connected to the upper arm front connector (2.3); a sensor (3.3) is provided at the front end of the forearm (3); a fixing ring (3.4) is provided on the rear side of the forearm rod (3.1); the fixing ring (3.4) is connected to the forearm rod (3.1) through a connecting rod; the fixing ring (3.4) is... 4) Used to fix the bellows (6); a collar (3.5) is provided on the front side of the forearm (3.1); the collar (3.5) is used to fix the front end of the bellows (6) and movably connect the front end of the linkage (7); the collar (3.5) is connected to the forearm (3.1) through a connecting rod; a number of arc-shaped shaft baskets (3.6) are provided on the front side of the collar (3.5); the shaft baskets (3.6) are connected together through basket head rings (3.7); The insert plate (4) includes a door (4.1); a pull plate (4.2) is provided on the top of the door (4.1); the pull plate (4.2) facilitates personnel to pull out the insert plate (4); the insert plate (4) is placed on the material gate (1.9); The middle part of the cutting component (5) is a pressure shaft (5.1); a pressure coil (5.2) is fixedly provided on the outside of the pressure shaft (5.1); the pressure coil (5.2) is auger-shaped; a pressure shaft head (5.3) is provided at the upper end of the pressure shaft (5.1); the pressure shaft head (5.3) is used to connect the linkage component (7); a pressure shaft rod (5.4) is provided at the bottom of the pressure shaft head (5.3); the pressure shaft rod (5.4) passes through the bar shaft hole (1.8) and can rotate in the bar shaft hole (1.8); a cutter shaft (5.5) is provided at the other end of the pressure shaft rod (5.4); cutter blades (5.6) are evenly arranged around the cutter shaft (5.5); the cutter blades (5.6) are used to cut the blades; the bottom of the cutter shaft (5.5) is connected to the machine shaft (1.14). The main body of the corrugated pipe (6) is a hollow tube (6.1); the tube (6.1) is provided with bellows (6.2) at equal intervals; one end of the corrugated pipe (6) is installed on the top of the compression pipe (1.6); the other end of the corrugated pipe (6) is fixed on the collar (3.5); The linkage (7) has a flexible strip (7.1) in the middle; the flexible strip (7.1) has bar shafts (7.2) evenly spaced on it; the flexible strip (7.1) can rotate within the bar shafts (7.2), and spokes (7.3) are radially arranged on the outer side of the bar shafts (7.2); the outer side of the spokes (7.3) is connected to an annular fixing ring (7.4); a vibrating element (7.5) is arranged on the flexible strip (7.1) between the fixing rings (7.4); the vibrating element (7.5) is rotated downward to push the blade downward; adjacent vibrating elements (7.5) The opposite orientation of the leaves is used to prevent them from bridging and falling down inside the corrugated pipe; the lower end of the soft strip (7.1) is connected to the pressure head (5.3); the front end of the soft strip (7.1) is uniformly provided with a twisted strip (7.6) in an arc shape; the twisted strip (7.6) is used to cut the leaves from the branches and put them into the corrugated pipe (6); the other end of the twisted strip (7.6) is connected by a shaft support ring (7.7); the shaft support ring (7.7) is installed on the shaft ring (3.5) and can rotate inside the shaft ring (3.5).

2. A machine assisted tree leaf picking apparatus as claimed in claim 1, wherein, The sensor (3.3) is used to identify paper mulberry leaves.

3. The machine assisted tree leaf picking machine as claimed in claim 1, wherein, The bellows (6) is sealed to the compression pipe (1.6).

4. The machine assisted tree leaf picking machine as claimed in claim 1, wherein, The arm (1.5) is rotatable on the chassis (1.1).

5. The machine assisted tree leaf picking apparatus as claimed in claim 1, wherein, The control panel (1.4) is used to control the leaf-picking action of the harvester.

6. The robotic arm-assisted leaf-picking machine according to claim 1, characterized in that, The blade (5.6) has the function of downward airflow during the cutting process.

7. A robotic arm-assisted mulberry leaf picking machine according to claim 1, characterized in that, The pressure rod (5.4) is detachably connected to the cutter shaft (5.5).

8. A robotic arm-assisted mulberry leaf picking machine according to claim 1, characterized in that, The fixing ring (7.4) is installed inside the wave ring (6.2).

9. A robotic arm-assisted leaf-picking machine according to claim 1, characterized in that, The corrugated pipe (6) has tensile and torsional toughness.

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