Intelligent mulberry leaf picking machine

Abstract

This invention belongs to the field of mulberry leaf harvesting technology, specifically relating to a traction-type intelligent mulberry leaf harvesting machine. It includes a control mechanism, a support mechanism, a collection mechanism, a harvesting mechanism, and a monitoring mechanism. The control mechanism includes a controller located on one side of the collection mechanism. The harvesting mechanism includes a first fixed base plate connected to a first moving component, which is connected to the support mechanism. A first fixed component, a second fixed component, and a harvesting component are mounted on the first fixed base plate. The harvesting component is positioned above the second fixed component and connected to the second moving component. The second fixed component contains several adaptively adjustable first and second flexible clamping components. Through the coordinated operation of the controller, collection mechanism, and harvesting mechanism, this harvesting machine not only effectively improves the fixation of mulberry branches but also reduces labor costs and intensity, and enables flexible harvesting of mulberry leaves, minimizing damage to the leaves and buds.

Description

Technical Field

[0001] This invention belongs to the field of mulberry leaf harvesting technology, specifically relating to a tractor-mounted intelligent mulberry leaf harvesting machine. Background Technology

[0002] In the mulberry leaf cultivation industry, mulberry leaf harvesting has always been a labor-intensive, inefficient, and potentially damaging task for mulberry trees. Traditional manual harvesting methods are not only time-consuming and labor-intensive, but also inevitably damage the mulberry leaves and their buds during the harvesting process, affecting the quality of the leaves and subsequent processing. Furthermore, with the continuous improvement of agricultural mechanization, various mulberry leaf harvesting machines have appeared on the market. However, the harvesting components of existing mulberry leaf harvesting machines mostly adopt a rigid structural design, making it difficult to flexibly adjust to the actual conditions of the mulberry branches during harvesting, easily causing physical damage to the mulberry leaves and their buds. In addition, some machines lack effective fixation and support for the mulberry branches during harvesting, causing the branches to sway and further exacerbating the damage. Summary of the Invention

[0003] To address the aforementioned shortcomings of existing technologies, this invention provides a traction-type intelligent mulberry leaf harvesting machine, which solves the problems of high damage rate to mulberry branches and buds caused by the rigid structure of existing mulberry leaf harvesting machines, as well as poor fixation effect on mulberry branches.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A tractor-mounted intelligent mulberry leaf harvesting machine is provided, comprising a control mechanism, a support mechanism, a collection mechanism, a harvesting mechanism, and a monitoring mechanism, all of which are connected to the control mechanism.

[0006] The control mechanism includes a control unit, which is located on one side of the collection mechanism;

[0007] The collection mechanism is mounted on the support mechanism. The collection mechanism includes a collection box, a control unit is mounted on one side of the collection box, the collection box is connected to the output end of the conveyor agitator, the input end of the conveyor agitator is connected to the output end of the conveyor belt, the input end of the conveyor belt is connected to the collection cloth, the collection cloth is mounted on the support mechanism, and the collection box is mounted above the collection cloth.

[0008] The harvesting mechanism includes a first fixed base plate, the lower part of which is connected to a first moving component. The first moving component is connected to a support mechanism. A plurality of first fixed components, second fixed components, and harvesting components are disposed on the first fixed base plate. The harvesting components are disposed above the second fixed components. The harvesting components, the second fixed components, and the second moving component are connected. The harvesting components and the second fixed components are linked. A plurality of adaptively adjustable first flexible clamping components and second flexible clamping components are disposed inside the second fixed component. Both the first flexible clamping components and the second flexible clamping components include a plurality of clamping blocks. The clamping blocks are connected to one end of a support rod, and the other end of the support rod is connected to the second fixed base plate. An elastic element is disposed on the outside of the support rod.

[0009] The beneficial effects of adopting the above technical solution are as follows: The monitoring mechanism can be used to sense the presence and height of mulberry branches and transmit the information to the control mechanism. The control mechanism receives the monitoring signals from the monitoring mechanism and automatically issues control commands based on the signals to centrally control the picking and collecting mechanisms. This achieves automated operation from mulberry branch identification, clamping and fixing, flexible picking, height adaptive adjustment, and mulberry leaf collection, reducing manual intervention, improving picking efficiency, and reducing labor intensity. Furthermore, the control mechanism can control the movement speed of the picking mechanism, ensuring the stability and efficiency of the picking process. The support mechanism provides stable support for the picking and collecting mechanisms, ensuring smooth operation during the picking process. When mulberry leaves need to be picked, manual assistance is used to place the mulberry branches into the first fixed component, the second fixed component, and the picking component of the picking mechanism. The monitoring mechanism can detect the presence of the mulberry branches and transmit the signal to the control mechanism. After receiving the signal, the control mechanism automatically issues commands to control the second fixed component and the picking group. The components close, allowing the flexible clamping assembly to adaptively clamp the mulberry branch and position it at the center of the harvesting tool. The first and second flexible clamping components can adaptively adjust according to the shape and position of the mulberry branch. The clamping block, through the action of the elastic element, tightly fits the mulberry branch, thereby reducing damage to the mulberry leaves and branches. After fixing, the harvesting component cuts and harvests the mulberry leaves. During movement, the monitoring mechanism can monitor the movement height in real time. When the harvesting component is detected approaching the preset position at the top of the mulberry branch, a signal is transmitted to the control unit. Upon receiving the signal, the control unit automatically issues an instruction to simultaneously open the first and second fixing components and the harvesting component, releasing the mulberry branch. The mulberry branch resets using its own elasticity, and the second fixing component and the harvesting component return to their initial positions, awaiting the next harvesting operation. The harvested mulberry leaves enter the collection cloth in the collection mechanism, sliding down to the input end of the conveyor belt. The conveyor belt transports the mulberry leaves to the input end of the conveying agitator, which then transports them to the collection box, thus completing the mulberry leaf collection process.

[0010] This harvesting machine achieves efficient harvesting and collection of mulberry leaves through the coordinated operation of its control, collection, and picking mechanisms. It not only effectively improves the fixation of mulberry branches, but also allows for flexible harvesting of mulberry leaves, thereby reducing damage to the leaves and buds, resulting in greater flexibility and economic benefits.

[0011] Furthermore, the support mechanism includes several horizontally arranged first supports, several second supports are arranged between the first supports, a frame is arranged below the second supports, and casters are arranged on the frame.

[0012] The beneficial effects of adopting the above technical solution are as follows: the horizontally set first support and the vertically set second support can ensure the stability of the harvester during operation, thereby ensuring harvesting efficiency. The frame set below the second support, and the frame is equipped with casters, which can move the harvester to different places, improving the harvester's flexibility, mobility and applicability.

[0013] Furthermore, the first moving component includes a first drive motor and an electric push rod connected to the output end of the first drive motor. The other end of the electric push rod is connected to a third fixed base plate. The third fixed base plate is connected to a fourth fixed base plate. The fourth fixed base plate is connected to the bottom end of the first fixed base plate. The two ends of the fourth fixed base plate are provided with sliding grooves, which match the sliding rails. The sliding rails are mounted on the second bracket.

[0014] The beneficial effects of adopting the above technical solution are as follows: the first moving component can be controlled by the controller. When the first drive motor is started by the controller, the first drive motor can drive the electric push rod to perform telescopic movement. The telescopic movement of the electric push rod can drive the picking mechanism on the first fixed base plate to move horizontally to adapt to mulberry branches of different row widths, thereby improving the applicability and flexibility of the picking machine.

[0015] Furthermore, the collecting cloth is inclinedly arranged on both sides of the conveyor belt, and a back plate is provided on both sides of the collecting cloth. A collecting cloth rod is provided at each end of the collecting cloth. One end of the collecting cloth rod on one side is connected to one end of the collecting connecting rod, and the other end of the collecting connecting rod is connected to the fourth fixed base plate.

[0016] The beneficial effects of adopting the above technical solution are as follows: the inclined collection cloth facilitates the smooth sliding of mulberry leaves onto the conveyor belt, while the rear plates set on both sides of the collection cloth can act as a barrier to prevent the mulberry leaves from overflowing from both sides of the collection cloth during the collection process, thus ensuring the collection effect of the mulberry leaves. In addition, collection cloth rods are set at both ends of the collection cloth, and the collection cloth rod on one side is connected to the fourth fixed base plate through the collection connecting rod, which enables the collection cloth to move synchronously with the movement of the picking mechanism, which is conducive to the accurate collection of mulberry leaves.

[0017] Furthermore, the first fixing component includes a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate forming a hollow arc shape, the bottom end of the first clamping plate being connected to the fifth fixing base plate, the fifth fixing base plate being connected to the sixth fixing base plate, and the sixth fixing base plate being connected to the bottom of the first fixing base plate; the bottom end of the second clamping plate being connected to the seventh fixing base plate, one side of the seventh fixing base plate being connected to one end of the first connecting plate, the other end of the first connecting plate being connected to the first sliding base plate, the first sliding base plate being threadedly connected to the first clamping connecting rod, the first clamping connecting rod being disposed at the output end of the first opening and closing motor, one end of the first clamping connecting rod being connected to the eighth fixing base plate, the first opening and closing motor being disposed on the ninth fixing base plate, and the ninth fixing base plate and the eighth fixing base plate being disposed on the sixth fixing base plate.

[0018] The beneficial effects of adopting the above technical solution are as follows: the first fixing component is used to fix the bottom end of the mulberry branch. When the first opening and closing motor is started by controlling the controller, the first opening and closing motor drives the first clamping connecting rod to rotate. The first clamping connecting rod can drive the first sliding base plate, the first connecting plate and the second clamping plate to open and close. The first clamping plate and the second clamping plate can form a hollow arc shape after being combined. This can not only ensure the stability of the mulberry branch during the picking process and reduce the risk of shaking and falling off, but also adjust the degree of opening and closing according to the size of the mulberry branch to adapt to mulberry branches of different shapes and sizes, thus improving the applicability and flexibility of the picking machine.

[0019] Furthermore, the second fixing component plate includes a tenth fixing base plate and an eleventh fixing base plate, both of which are connected to the second fixing base plate; a second connecting plate is provided on one side of the eleventh fixing base plate, the second connecting plate is connected to the second sliding base plate, the second sliding base plate is threadedly connected to the second clamping connecting rod, the second clamping connecting rod is provided at the output end of the second opening and closing motor, one end of the second clamping connecting rod is connected to the twelfth fixing base plate, the second opening and closing motor is provided on the thirteenth fixing base plate, and the twelfth and thirteenth fixing base plates are provided on the movable base plate.

[0020] The beneficial effects of adopting the above technical solution are as follows: when the second opening and closing motor is started by controlling the controller, the second opening and closing motor drives the second clamping connecting rod to rotate. The second clamping connecting rod can drive the second sliding plate to realize the opening and closing movement of the tenth fixed plate and the eleventh fixed plate. This can not only ensure the fixed stability during the mulberry branch picking process, but also adapt to mulberry branches of different shapes and sizes, thus improving the flexibility and applicability of picking.

[0021] Furthermore, the picking component includes a first cutter and a second cutter, which are semi-circular in shape. The first cutter is disposed on a first cutter fixing base plate, and the second cutter is disposed on a second cutter fixing base plate. The first cutter fixing base plate and the second cutter fixing base plate are respectively connected to the tenth fixing base plate and the eleventh fixing base plate through the first picking connecting rod and the second picking connecting rod.

[0022] The beneficial effects of adopting the above technical solution are as follows: Since the first cutter fixing base plate and the second cutter fixing base plate are respectively connected to the tenth fixing base plate and the eleventh fixing base plate through the first picking connecting rod and the second picking connecting rod, when the second opening and closing motor is started, the first cutter and the second cutter can be driven to open and close synchronously, so that the mulberry branch is fixed in the hollow arc formed by the first cutter and the second cutter, so that the picking component can adapt to mulberry branches of different diameters and shapes, thereby improving the versatility and applicability of the picking machine.

[0023] Furthermore, the second moving component includes a lead screw motor and a lead screw connected to the output end of the lead screw motor. The lead screw motor is mounted on the first fixed base plate via the fourteenth fixed base plate. The lead screw is threadedly connected to the moving base plate. A slider is provided on one side of the moving base plate. The slider is connected to a slide rod, and the slide rod is mounted on the first fixed base plate.

[0024] The beneficial effects of adopting the above technical solution are as follows: the lead screw motor is connected to the lead screw through the output end. When the lead screw motor works, the lead screw will rotate accordingly. Since the lead screw is threadedly connected to the moving base plate, the rotation of the lead screw will be converted into the linear motion of the moving base plate. This allows the picking component and the second fixed component to be flexibly adjusted according to the growth height of the mulberry leaves, ensuring the accuracy and efficiency of picking.

[0025] Furthermore, the monitoring mechanism includes a distance sensor and a contact sensor, with the distance sensor mounted on the fourteenth fixed base plate and the contact sensor mounted on the first clamping plate.

[0026] The beneficial effects of adopting the above technical solution are as follows: the distance sensor can sense the height of the harvesting component in real time, ensuring that the harvesting blade harvests at the appropriate height and avoiding damage to mulberry branches or buds; the contact sensor can be used to sense whether the first fixing component is holding the mulberry branch and the position of the branch, ensuring that the first fixing component can accurately hold the branch, facilitating smooth harvesting by the harvesting component. Through the coordinated use of the distance sensor and the contact sensor, the harvester can achieve a high degree of automated control and precise harvesting, thereby improving harvesting efficiency and accuracy.

[0027] Furthermore, a protective layer is provided on the inner side of the clamping block, and the protective layer is made of a flexible material.

[0028] The beneficial effects of adopting the above technical solution are as follows: the protective layer made of flexible material can play a buffering role when the clamping block comes into contact with the mulberry branch, reducing the pressure and friction caused by direct hard contact, thereby reducing the risk of damage to the bark and buds of the mulberry branch.

[0029] In summary, the beneficial effects of the tractor-driven intelligent mulberry leaf harvesting machine provided by this invention are as follows:

[0030] (1) The harvesting machine achieves automated and efficient harvesting and collection of mulberry leaves through the coordinated work of the control mechanism, monitoring mechanism, collection mechanism and harvesting mechanism. It can not only effectively improve the fixing effect of mulberry branches, but also reduce labor costs and labor intensity. Moreover, the harvesting mechanism can achieve flexible harvesting of mulberry leaves, thereby reducing damage to mulberry leaves and buds, and has better flexibility and economic benefits.

[0031] (2) The support mechanism in the harvester, through the support structure set in the horizontal and vertical directions, not only ensures the stability and smoothness of the harvester during operation, but also allows it to move flexibly to different work locations through the casters, adapting to various complex orientations and improving the mobility and flexibility of the harvester.

[0032] (3) The picking mechanism of the picking machine achieves precise and efficient picking of mulberry leaves through the adaptive and adjustable flexible clamping component. It can also be flexibly adjusted according to the actual situation of the mulberry branches during the picking process, ensuring picking efficiency and picking effect.

[0033] (4) The first fixing component in the picking mechanism can stably clamp the bottom of the mulberry branch, ensuring stability during the picking process. The first fixing component can adapt to mulberry branches of different shapes and sizes, ensuring the stability and accuracy of clamping. In addition, the first fixing component effectively reduces the risk of mulberry branches shaking and falling off during the picking process, improving the stability, picking efficiency and quality during the picking process.

[0034] (5) The second fixing component in the picking mechanism is a flexible clamping component with adaptive adjustment. The elastic element can be flexibly adjusted during the fixing and movement of the mulberry branch to adapt to the deformation of the mulberry branch. This not only ensures the stability and adaptability of the clamping, but also reduces the damage to the mulberry leaves and buds. At the same time, the second fixing component and the picking component can move at the same time, so that clamping and picking can be carried out synchronously during the picking process, which improves the picking efficiency and quality.

[0035] (6) The collection mechanism in the harvester achieves rapid and accurate transmission of mulberry leaves from picking to collection through the coordinated action of the collection cloth, conveyor belt and conveyor stirring cage. The inclined collection cloth and the rear plates on both sides effectively reduce the overflow and loss of mulberry leaves during the collection process and improve the collection efficiency. At the same time, the collection mechanism transports the picked mulberry leaves to the collection box in a concentrated manner, which facilitates subsequent processing and handling.

[0036] (7) The picking machine can automatically identify the position of mulberry branches through contact sensors and sense the picking height through distance sensors, thereby completing the automated picking operation of mulberry branch detection, clamping and fixing, flexible picking, height detection and release and reset. This not only greatly reduces the intensity of manual picking, but also ensures the synchronization of clamping, picking and moving, effectively improving the picking efficiency and picking effect, and reducing the damage to mulberry branches and buds. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the support mechanism in this invention;

[0039] Figure 3 This is a schematic diagram of the collecting mechanism in this invention;

[0040] Figure 4 This is a schematic diagram of the harvesting mechanism in this invention;

[0041] Figure 5 This is a schematic diagram of the structure of the first moving component in this invention;

[0042] Figure 6 This is a schematic diagram of the structure of the second moving component in this invention;

[0043] Figure 7 This is a schematic diagram of the structure of the first fixing component in this invention;

[0044] Figure 8 This is a schematic diagram of the harvesting component in this invention;

[0045] Figure 9 This is a schematic diagram of the structure of the second fixing component in this invention;

[0046] Figure 10 This is a control flowchart of the harvester according to the present invention;

[0047] Figure 11 This is a flowchart illustrating the operation of the harvesting machine in this invention.

[0048] The components include: 1. Control unit; 2. Seat; 3. Support mechanism; 31. First bracket; 32. Second bracket; 33. Frame; 34. Casters; 4. Collection mechanism; 41. Collection box; 42. Conveying agitator; 43. Conveyor belt; 44. Collection cloth; 45. Back plate; 46. Collection cloth rod; 47. Collection connecting rod; 5. Harvesting mechanism; 51. First fixed base plate; 52. First moving component; 521. First drive motor; 522. Electric push rod; 523. Third fixed base plate; 524. Fourth fixed base plate; 525. Slide groove; 526. Slide rail; 53. First fixing component; 531. First clamping plate; 532. Second clamping plate; 533. Fifth fixed base plate; 534. Sixth fixed base plate; 535. Seventh fixed base plate; 536. First connecting plate; 537. First sliding base plate; 538. First clamping connecting rod; 539. Eighth fixed base plate. 5310, Ninth fixed base plate; 5311, First opening and closing motor; 54, Second fixing component; 541, Clamping block; 542, Support rod; 543, Elastic element; 544, Second fixed base plate; 545, Tenth fixed base plate; 546, Eleventh fixed base plate; 547, Second connecting plate; 548, Second sliding base plate; 549, Second clamping connecting rod; 5410, Second opening and closing motor; 5411, Twelfth fixed base plate; 5412, Thirteenth fixed base plate; 55, Second moving component; 551, Moving base plate; 552, Lead screw motor; 553, Lead screw; 554, Fourteenth fixed base plate; 555, Slider; 556, Sliding rod; 56, Picking component; 561, First cutter; 562, Second cutter; 563, First cutter fixing base plate; 564, Second cutter fixing base plate; 565, First picking connecting rod; 566, Second picking connecting rod. Detailed Implementation

[0049] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0050] like Figures 1-11As shown, the present invention provides a traction-type intelligent mulberry leaf picking machine with a control mechanism, a support mechanism 3, a collection mechanism 4, a picking mechanism 5, and a monitoring mechanism. The collection mechanism 4, the picking mechanism 5, and the monitoring mechanism are all connected to the control mechanism. The control mechanism includes a control unit 1, which is located on one side of the collection box 41. A seat 2 is located on one side of the control unit 1. The monitoring mechanism can sense the presence and height of mulberry branches and transmit the information to the control mechanism. The control mechanism receives the monitoring signals from the monitoring mechanism and automatically issues control commands based on the signals to centrally control the picking and collecting mechanisms. This achieves automated operation from mulberry branch identification, clamping and fixing, flexible picking, height adaptive adjustment, and mulberry leaf collection, reducing manual intervention, improving picking efficiency, and reducing labor intensity. The control unit 1 can also control the moving speed of the picking mechanism 5, ensuring the stability and efficiency of the picking process. The support mechanism 3 provides a stable support platform for the entire picking machine, ensuring the stability and safety of the picking machine during operation and reducing the decrease in picking efficiency or damage to parts caused by vibration or shaking. The picking mechanism 5 can achieve flexible picking of mulberry leaves, reducing damage to buds and mulberry branches. The collecting mechanism 4 can collect the picked mulberry leaves and transport them to the designated collection box 41, and can realize the automatic collection and transportation of mulberry leaves, reducing manual operation and improving picking efficiency.

[0051] like Figure 1 and Figure 2 As shown, the support mechanism 3 includes several horizontally arranged first supports 31, several second supports 32 arranged between the first supports 31, and a frame 33 arranged below the second supports 32. The frame 33 is equipped with casters 34. The horizontally arranged first supports 31 and the vertically arranged second supports 32 ensure the stability of the harvester during operation, thereby ensuring harvesting efficiency. The frame 33, located below the second supports 32 and equipped with casters 34, allows the harvester to be moved to different locations, improving its flexibility, maneuverability, and applicability.

[0052] like Figure 1 and Figure 4As shown, the harvesting mechanism 5 includes a first fixed base plate 51. The lower part of the first fixed base plate 51 is connected to a first moving component 52, which is connected to a support mechanism 3. The first fixed base plate 51 is provided with a plurality of first fixed components 53, second fixed components 54, and a harvesting component 56. The harvesting component 56 is positioned above the second fixed components 54. The harvesting component 56, the second fixed components 54, and the second moving component 55 are connected. The harvesting component 56 and the second fixed components 54 are linked. The second fixed component 54 contains a plurality of adaptively adjustable first flexible clamping components and second flexible clamping components. When mulberry leaves need to be harvested, manual assistance is used to place mulberry branches onto the first fixed components 53 and the second fixed components 54 of the harvesting mechanism 5. In the picking component 56, the control unit 1 then issues a command to start the picking component 56. The picking component 56 and the second fixing component 54 can move upward along the first fixing base plate 51 under the drive of the second moving component 55. At the same time, the picking component 56 picks the mulberry leaves. During the picking process, the first flexible clamping component and the second flexible clamping component can adaptively adjust according to the shape and position of the mulberry branches, thereby reducing damage to the mulberry leaves and branches. After picking, the mulberry leaves enter the collection cloth 44 in the collection mechanism 4. The mulberry leaves slide from the collection cloth 44 to the input end of the conveyor belt 43. The conveyor belt 43 transports the mulberry leaves to the input end of the conveying agitator 42. The conveying agitator 42 transports the mulberry leaves to the collection box 41, thereby completing the mulberry leaf collection process.

[0053] like Figure 1 and Figure 5 As shown, the first moving component 52 includes a first drive motor 521 and an electric push rod 522 connected to the output end of the first drive motor 521. The other end of the electric push rod 522 is connected to a third fixed base plate 523. The third fixed base plate 523 is connected to a fourth fixed base plate 524. The fourth fixed base plate 524 is connected to the bottom end of the first fixed base plate 51. The two ends of the fourth fixed base plate 524 are provided with sliding grooves 525, which match slide rails 526. The slide rails 526 are mounted on the second bracket 32. The first drive motor 521 can drive the electric push rod 522 to perform telescopic movement. The telescopic movement of the electric push rod 522 can drive the picking mechanism 5 on the first fixed base plate 51 to move horizontally to adapt to mulberry branches of different row widths, thereby improving the applicability and flexibility of the picking machine.

[0054] like Figure 1 and Figure 7As shown, the first fixing component 53 includes a first clamping plate 531 and a second clamping plate 532. The first clamping plate 531 and the second clamping plate 532 form a hollow arc shape. The bottom end of the first clamping plate 531 is connected to the fifth fixing base plate 533. The fifth fixing base plate 533 is connected to the sixth fixing base plate 534. The sixth fixing base plate 534 is connected to the lower part of the first fixing base plate 51. The bottom end of the second clamping plate 532 is connected to the seventh fixing base plate 535. One side of the seventh fixing base plate 535 is connected to the first connecting plate 53. One end of 6 is connected to the first connecting plate 536, and the other end of the first sliding base plate 537 is connected to the first sliding base plate 537. The first sliding base plate 537 is threadedly connected to the first clamping connecting rod 538. The first clamping connecting rod 538 is disposed at the output end of the first opening and closing motor 5311. One end of the first clamping connecting rod 538 is connected to the eighth fixed base plate 539. The first opening and closing motor 5311 is disposed on the ninth fixed base plate 5310. The ninth fixed base plate 5310 and the eighth fixed base plate 539 are disposed on the sixth fixed base plate 534. The first fixing component 53 is used to fix the bottom end of the mulberry branch. The contact sensor is used to detect whether there is a mulberry branch. Driven by the first opening and closing motor 5311, the first clamping connecting rod 538 can drive the first sliding base plate 537, the first connecting plate 536 and the second clamping plate 532 to open and close. The first clamping plate 531 and the second clamping plate 532 can form a hollow arc shape after being combined. This can not only ensure the stability of the mulberry branch during the picking process and reduce the risk of shaking and falling off, but also adjust the degree of opening and closing according to the size of the mulberry branch to adapt to mulberry branches of different shapes and sizes, thus improving the applicability and flexibility of the picking machine.

[0055] like Figure 1 and Figure 9 As shown, the second fixing component 54 plate includes a tenth fixing base plate 545 and an eleventh fixing base plate 546, both of which are connected to the second fixing base plate 544. A second connecting plate 547 is provided on one side of the eleventh fixing base plate 546. The second connecting plate 547 is connected to the second sliding base plate 548. The second sliding base plate 548 is threadedly connected to the second clamping connecting rod 549. The second clamping connecting rod 549 is located at the output end of the second opening and closing motor 5410. One end of the second clamping connecting rod 549 is connected to the twelfth fixing base plate 5411. The second opening and closing motor 5410 is located on the thirteenth fixing base plate 5412. The twelfth fixing base plate 5411 and the thirteenth fixing base plate 5412 are located on the moving base plate 551. When the second opening and closing motor 5410 is driven by the controller 1, the second opening and closing motor 5410 can drive the second clamping connecting rod 549 to rotate. The second clamping connecting rod 549 can drive the second sliding base plate 548 to realize the opening and closing movement of the tenth fixed base plate 545 and the eleventh fixed base plate 546, so as to adapt to mulberry branches of different shapes and sizes, and improve the flexibility and applicability of harvesting.

[0056] like Figure 9 As shown, both the first flexible clamping assembly and the second flexible clamping assembly include a plurality of clamping blocks 541. The clamping blocks 541 are made of metal materials such as iron, and one end of each clamping block 541 is connected to a support rod 542. At least two support rods 542 are provided. The other end of each support rod 542 is connected to a second fixed base plate 544. The support rod 542 is provided with an elastic element 543 such as a spring. When the position of the clamped mulberry branch changes, the elastic element 543 will be compressed, thereby finely adjusting the position of each clamping block 541. The inner side of each clamping block 541 is provided with a protective layer made of flexible material, which can effectively reduce damage to the mulberry branch and buds.

[0057] like Figure 1 and Figure 8 As shown, the picking component 56 includes a first cutter 561 and a second cutter 562. The first cutter 561 and the second cutter 562 are semi-circular arc-shaped. The first cutter 561 is disposed on the first cutter fixing base plate 563, and the second cutter 562 is disposed on the second cutter fixing base plate 564. The first cutter fixing base plate 563 and the second cutter fixing base plate 564 are respectively connected to the tenth fixing base plate 545 and the eleventh fixing base plate 546 through the first picking connecting rod 565 and the second picking connecting rod 566. Since the first cutter fixing base plate 563 and the second cutter fixing base plate 564 are respectively connected to the tenth fixing base plate 545 and the eleventh fixing base plate 546 through the first picking connecting rod 565 and the second picking connecting rod 566, when the controller 1 controls the second opening and closing electric start, it can simultaneously drive the first cutter 561 and the second cutter 562 to open and close synchronously, so that the mulberry branch is fixed in the hollow arc formed by the first cutter 561 and the second cutter 562, so that the picking component 56 can adapt to mulberry branches of different diameters and shapes, thereby improving the versatility and applicability of the picking machine.

[0058] like Figure 1 and Figure 6 As shown, the second moving component 55 includes a lead screw motor 552 and a lead screw 553 connected to the output end of the lead screw motor 552. The lead screw motor 552 is mounted on the first fixed base plate 51 via the fourteenth fixed base plate 554. The lead screw 553 is threadedly connected to the moving base plate 551. A slider 555 is provided on one side of the moving base plate 551, and the slider 555 is connected to a slide rod 556, which is mounted on the first fixed base plate 51. Since the lead screw motor 552 is connected to the lead screw 553 via its output end, when the lead screw motor 552 operates under the control of the controller 1, the lead screw 553 will rotate accordingly. Because the lead screw 553 is threadedly connected to the moving base plate 551, the rotation of the lead screw 553 is converted into the linear motion of the moving base plate 551. This allows the harvesting component 56 and the second fixed component 54 to be flexibly adjusted according to the growth height of the mulberry leaves, ensuring the accuracy and efficiency of harvesting.

[0059] like Figure 1 and Figure 3 As shown, the collection mechanism 4 is mounted on the support mechanism 3. The collection mechanism 4 includes a collection box 41, with a control unit 1 on one side of the collection box 41. The collection box 41 is connected to the output end of the conveyor stirring cage 42, and the input end of the conveyor stirring cage 42 is connected to the output end of the conveyor belt 43. The input end of the conveyor belt 43 is connected to the collection cloth 44, which is mounted on the support mechanism 3. The collection box 41 is positioned above the collection cloth 44. Both the conveyor belt 43 and the conveyor stirring cage 42 are existing devices and are normally open during the harvesting process. The control unit 1 can control the opening and closing of the conveyor stirring cage 42 and the conveyor belt 43. After harvesting, the mulberry leaves enter the collection cloth 44 in the collection mechanism 4. The mulberry leaves slide from the collection cloth 44 to the input end of the conveyor belt 43, which transports the mulberry leaves to the input end of the conveyor stirring cage 42. The conveyor stirring cage 42 then transports the mulberry leaves to the collection box 41, thus completing the mulberry leaf collection process.

[0060] like Figure 3 As shown, the collecting cloth 44 is inclinedly arranged on both sides of the conveyor belt 43. The collecting cloth 44 has a back plate 45 on both sides. The collecting cloth 44 has a collecting cloth rod 46 at both ends. One end of the collecting cloth rod 46 is connected to one end of the collecting connecting rod 47, and the other end of the collecting connecting rod 47 is connected to the fourth fixed base plate 524. The inclined collecting cloth 44 facilitates the smooth sliding of mulberry leaves onto the conveyor belt 43. The back plates 45 on both sides of the collecting cloth can act as a barrier to prevent mulberry leaves from overflowing from both sides of the collecting cloth 44 during the collecting process, thus ensuring the collection effect of mulberry leaves. In addition, the collecting cloth rod 46 at both ends of the collecting cloth 44, and the collecting cloth rod 46 on one side is connected to the fourth fixed base plate 524 through the collecting connecting rod 47, can make the collecting cloth 44 move synchronously with the movement of the picking mechanism 5, which is conducive to the accurate collection of mulberry leaves.

[0061] In this embodiment of the invention, the monitoring mechanism includes a distance sensor and a contact sensor. The distance sensor is mounted on the fourteenth fixed base plate 554, and the contact sensor is mounted on the first clamping plate 531. The distance sensor can sense the height of the harvesting component 5 in real time, ensuring that the harvesting blade harvests at a suitable height to avoid damage to the mulberry branches or buds. The contact sensor, which can be a pressure sensor or a capacitive sensor, is used to sense whether the first fixed component 53 is clamping the mulberry branch and the position of the branch, ensuring that the first fixed component 53 can accurately clamp the mulberry branch, facilitating smooth harvesting by the harvesting component. Through the coordinated use of the distance sensor and the contact sensor, the harvester can achieve a high degree of automated control and precise harvesting, thereby improving harvesting efficiency and accuracy.

[0062] like Figure 10 and Figure 11As shown, the working method of the harvester in this invention is as follows: First, connect the power supply of the harvester and move it to the harvesting location, aligning it with the row of mulberry branches to be harvested. At this time, the first fixing component 53, the second fixing component 54, and the harvesting component 56 of the harvester are opened, the second moving component 55 is lowered to the initial height, the conveyor belt 43 and the conveying agitator 42 are opened, and the collecting mechanism 4 continues to run. With manual assistance, the mulberry branches are placed in the clamping area of ​​the first fixing component 53. The contact sensor detects the presence of the mulberry branches and sends a signal to the controller 1. The controller 1 receives the signal and synchronously issues an instruction to start the first opening and closing motor 5311. The first opening and closing... Motor 5311 drives the first clamping plate 531 and the second clamping plate 532 to close, forming a hollow arc-shaped fixing structure to rigidly fix the bottom of the mulberry branch. Then, the second opening and closing motor 5410 is started to drive the tenth fixing plate 545 and the eleventh fixing plate 546 to close. At the same time, the first cutter 651 and the second cutter 562 close synchronously to flexibly clamp and position the upper part of the mulberry branch. After the fixing is completed, the control machine 1 starts the lead screw motor 552, so that the second moving component 55 drives the picking component 56 to move upward along the mulberry branch. At the same time, the first cutter 561 and the second cutter 562 cut the mulberry leaves. During the fixing and moving process, the first... The flexible clamping assembly and the second flexible clamping assembly adaptively adjust according to the shape of the mulberry branch. The clamping block 541 is finely adjusted in position by compression of the spring 543, and the flexible protective layer set in the inner layer of the clamping block 541 can reduce damage to the bark and buds of the mulberry branch. In addition, during the mobile harvesting process, the distance sensor can detect the harvesting height of the harvesting assembly 56 in real time. When the distance sensor detects the preset harvesting height, that is, when it is close to the top of the mulberry branch, the controller issues a command. The first opening and closing motor 5311 drives the first fixing assembly 53 to open, the second opening and closing motor 5410 drives the second fixing assembly 54 and the harvesting assembly 56 to open, and the lead screw motor 552 stops. When the mulberry branch is released, it will use its own elasticity to detach from the clamping area. The contact sensor will detect the absence of the mulberry branch and confirm that it has been released. At the same time, the lead screw motor 552 reverses, causing the second fixing component 54 and the picking component 56 to return to their initial positions, waiting for the next picking operation. The picked mulberry leaves enter the collection cloth 44 in the collection mechanism 4. The mulberry leaves slide from the collection cloth 44 to the input end of the conveyor belt 43. The conveyor belt 43 transports the mulberry leaves to the input end of the conveying agitator 42. The conveying agitator 42 transports the mulberry leaves to the collection box 41, thus completing the mulberry leaf collection process. When the contact sensor detects a new mulberry branch, the next picking cycle will start automatically.

[0063] In summary, the present invention provides a traction-type intelligent mulberry leaf harvesting machine that achieves efficient harvesting and collection of mulberry leaves through the coordinated work of the controller 1, the collection mechanism 4, and the harvesting mechanism 5. It not only effectively improves the fixation effect on mulberry branches but also reduces labor costs and labor intensity. Furthermore, the harvesting mechanism 5 enables flexible harvesting of mulberry leaves, thereby reducing damage to mulberry leaves and buds, resulting in better flexibility and economic benefits.

Claims

1. A tractor-mounted intelligent mulberry leaf harvesting machine, characterized in that: It includes a control mechanism, a support mechanism (3), a collection mechanism (4), a harvesting mechanism (5), and a monitoring mechanism, wherein the collection mechanism (4), the harvesting mechanism (5), and the monitoring mechanism are all connected to the control mechanism; The control mechanism includes a control unit (1), which is disposed on one side of the collection mechanism (4); The collection mechanism (4) is mounted on the support mechanism (3). The collection mechanism (4) includes a collection box (41). A control unit (1) is mounted on one side of the collection box (41). The collection box (41) is connected to the output end of the conveying agitator (42). The input end of the conveying agitator (42) is connected to the output end of the conveyor belt (43). The input end of the conveyor belt (43) is connected to the collection cloth (44). The collection cloth (44) is mounted on the support mechanism (3). The collection box (41) is mounted above the collection cloth (44). The harvesting mechanism (5) includes a first fixed base plate (51), the lower part of which is connected to a first moving component (52). The first moving component (52) is connected to a support mechanism (3). A plurality of first fixed components (53), second fixed components (54), and harvesting components (56) are disposed on the first fixed base plate (51). The harvesting component (56) is disposed above the second fixed components (54). The harvesting component (56) is connected to the second fixed components (54) and the second moving component (55). The picking component (56) is linked with the second fixing component (54). The second fixing component (54) is provided with a plurality of adaptively adjustable first flexible clamping components and second flexible clamping components. The first flexible clamping components and the second flexible clamping components each include a plurality of clamping blocks (541). The clamping blocks (541) are connected to one end of the support rod (542). The other end of the support rod (542) is connected to the second fixing base plate (544). The support rod (542) is provided with an elastic element (543) on its exterior. The first fixing component (53) includes a first clamping plate (531) and a second clamping plate (532). The first clamping plate (531) and the second clamping plate (532) form a hollow arc shape. The bottom end of the first clamping plate (531) is connected to a fifth fixing base plate (533). The fifth fixing base plate (533) is connected to a sixth fixing base plate (534). The sixth fixing base plate (534) is connected to the bottom of the first fixing base plate (51). The bottom end of the second clamping plate (532) is connected to a seventh fixing base plate (535). One side of the seventh fixing base plate (535) is connected to a first connecting plate (532). 36) One end is connected, the other end of the first connecting plate (536) is connected to the first sliding base plate (537), the first sliding base plate (537) is threadedly connected to the first clamping connecting rod (538), the first clamping connecting rod (538) is disposed at the output end of the first opening and closing motor (5311), one end of the first clamping connecting rod (538) is connected to the eighth fixed base plate (539), the first opening and closing motor (5311) is disposed on the ninth fixed base plate (5310), and the ninth fixed base plate (5310) and the eighth fixed base plate (539) are disposed on the sixth fixed base plate (534); The second fixing component (54) includes a tenth fixing base plate (545) and an eleventh fixing base plate (546), both of which are connected to the second fixing base plate (544). A second connecting plate (547) is provided on one side of the eleventh fixing base plate (546), which is connected to the second sliding base plate (548). The second sliding base plate (548) is threadedly connected to the second clamping connecting rod (549). The second clamping connecting rod (549) is located at the output end of the second opening and closing motor (5410), and one end of the second clamping connecting rod (549) is connected to the twelfth fixing base plate (5411). The second opening and closing motor (5410) is located on the thirteenth fixing base plate (5412), and the twelfth fixing base plate (5411) and the thirteenth fixing base plate (5412) are located on the moving base plate (551). The picking assembly (56) includes a first cutter (561) and a second cutter (562). The first cutter (561) and the second cutter (562) are semi-circular arc-shaped. The first cutter (561) is disposed on a first cutter fixing base plate (563), and the second cutter (562) is disposed on a second cutter fixing base plate (564). The first cutter fixing base plate (563) and the second cutter fixing base plate (564) are respectively connected to the tenth fixing base plate (545) and the eleventh fixing base plate (546) through the first picking connecting rod (565) and the second picking connecting rod (566).

2. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 1, characterized in that: The support mechanism (3) includes a plurality of horizontally arranged first supports (31), a plurality of second supports (32) are arranged between the first supports (31), a frame (33) is arranged below the second supports (32), and casters (34) are arranged on the frame (33).

3. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 1, characterized in that: The first moving component (52) includes a first drive motor (521) and an electric push rod (522) connected to the output end of the first drive motor (521). The other end of the electric push rod (522) is connected to a third fixed base plate (523). The third fixed base plate (523) is connected to a fourth fixed base plate (524). The fourth fixed base plate (524) is connected to the bottom end of the first fixed base plate (51). The two ends of the fourth fixed base plate (524) are provided with sliding grooves (525). The sliding grooves (525) are matched with slide rails (526). The slide rails (526) are disposed on the second bracket (32).

4. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 3, characterized in that: The collecting cloth (44) is inclinedly arranged on both sides of the conveyor belt (43). The collecting cloth (44) is provided with a back plate (45) on both sides. The collecting cloth (44) is provided with a collecting cloth rod (46) at both ends. One end of the collecting cloth rod (46) is connected to one end of the collecting connecting rod (47), and the other end of the collecting connecting rod (47) is connected to the fourth fixed base plate (524).

5. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 1, characterized in that: The second moving component (55) includes a lead screw motor (552) and a lead screw (553) connected to the output end of the lead screw motor (552). The lead screw motor (552) is mounted on the first fixed base plate (51) via the fourteenth fixed base plate (554). The lead screw (553) is threadedly connected to the moving base plate (551). A slider (555) is provided on one side of the moving base plate (551). The slider (555) is connected to a slide rod (556). The slide rod (556) is mounted on the first fixed base plate (51).

6. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 5, characterized in that: The monitoring mechanism includes a distance sensor and a contact sensor. The distance sensor is disposed on the fourteenth fixed base plate (554), and the contact sensor is disposed on the first clamping plate (531).

7. The tractor-mounted intelligent mulberry leaf harvesting machine according to claim 1, characterized in that: The clamping block (541) has a protective layer on its inner side, and the protective layer is made of a flexible material.

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