Tobacco leaf picking device capable of adjusting picking strength

Abstract

The invention relates to the technical field of tobacco leaf picking equipment, and discloses a tobacco leaf picking device capable of adjusting picking strength, which comprises two oppositely arranged frame mechanisms, and two moving wheels are mounted on the outer sides of the two frame mechanisms in a linear array. The maturity, the leaf toughness, the stalk strength and the like of tobacco leaves are different, if the picking strength is too large, tobacco leaves are prone to being damaged, stalks are prone to being broken, and the tobacco leaf quality and the follow-up growth of tobacco plants are affected; the problems that tobacco leaves cannot be smoothly picked and missing picking is caused if the picking strength is too small are solved, the device integrates the functions of information identification, strength adjustment, picking, collection and the like, a complete automatic picking system is formed, manual intervention is reduced, the labor intensity is reduced, the tobacco leaf picking operation efficiency is remarkably improved on the basis of guaranteeing the picking quality, and the labor intensity is reduced. And a more advanced and more practical picking solution is provided for the tobacco planting industry.

Description

Technical Field

[0001] This invention relates to the field of tobacco leaf harvesting equipment technology, specifically to a tobacco leaf harvesting device with adjustable harvesting force. Background Technology

[0002] Tobacco leaf harvesting is a crucial link in the tobacco industry chain, directly determining the grading, curing effect, and final economic value of the tobacco leaves. Globally, tobacco leaf harvesting has long faced the industry challenge of balancing efficiency and quality.

[0003] For example, a tobacco leaf auxiliary harvesting device with publication number "CN119817316A" includes two base plates, left and right. Each base plate has two vertical tubes fixed at the front and back. Two horizontal tubes are set on the upper side of the vertical tubes. A swing rod is hinged to the inner end of each base plate. A slider is set on the inner end of each swing rod. The lower end of the slider is connected to the swing rod through a tension spring. A U-shaped cutter is fixed to the inner end of the slider. The left ends of the two vertical tubes on the left side are equipped with horizontally placed handrails. A connecting rod is fixed between the handrail and the two vertical tubes. A sliding rod that can move horizontally left and right is set on the connecting rod. When the front and back sliding rods move left and right, they can drive the sliders on the left and right sides to move up and down respectively. This invention allows the rise height of the cutter to be adjusted at any time according to human will by manually operating the sliding rods on the front and back sides. It can cut mature tobacco leaves of different heights. Compared with the existing electronically controlled cutting method, it greatly improves the cutting quality of tobacco leaves.

[0004] Currently, existing harvesting machinery generally suffers from problems such as non-adjustable harvesting force or a single adjustment method, making it unable to adapt to the harvesting needs of different growth conditions and varieties of tobacco leaves. During the growth process, tobacco leaves vary in maturity, leaf toughness, and stem strength. If the harvesting force is too great, it can easily lead to damage to tobacco leaves and breakage of stems, affecting the quality of tobacco leaves and the subsequent growth of tobacco plants. If the harvesting force is too small, tobacco leaves cannot be harvested smoothly, resulting in missed harvests. Therefore, developing a tobacco harvesting device that can flexibly adjust the harvesting force according to the actual condition of the tobacco leaves is of great practical significance. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a tobacco leaf picking device with adjustable picking force, which can effectively solve the problems in the background art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] This invention provides a tobacco leaf harvesting device with adjustable harvesting force, comprising two opposing frame mechanisms. Two movable wheels are mounted in a linear array on the outer sides of each frame mechanism. A servo motor B is mounted on the bottom surface of the frame mechanism, and a base assembly is mounted on the top output shaft of the servo motor B.

[0008] A guide rail assembly is fixedly connected to the top surface of the seat assembly. A longitudinal groove is opened inside the guide rail assembly. A longitudinally arranged lifting push rod is fixedly connected inside the longitudinal groove. A rod insertion mechanism is fixedly connected to the top of the lifting push rod. Two guide blocks are fixedly connected to each other on the front and rear sides of the rod insertion mechanism. A side plate assembly is fixedly connected to the outside of the guide blocks. Every two horizontally adjacent side plate assemblies form a group. A servo motor C is fixedly connected to the outside of both groups of side plate assemblies. A drive gear is installed on the output shaft of the servo motor C.

[0009] Furthermore, an extension bracket is inserted into the inside of the insertion rod mechanism. The extension bracket is arranged longitudinally, and a toothed assembly is fixedly connected to the outside of the extension bracket. Two longitudinally arranged toothed assemblies are fixedly connected to the outside of each extension bracket in opposite directions.

[0010] Furthermore, the gear assembly meshes with the drive gear for transmission, and the servo motor C and the drive gear together form a telescopic fine-tuning structure for the extension bracket.

[0011] Furthermore, the main body of the frame mechanism is an L-shaped structure, and a servo motor A is installed on the inner side of the longitudinal component in the frame mechanism. The output shaft of the servo motor A is connected to the moving wheel. The servo motor A and the moving wheel together form the overall moving drive structure for the harvester.

[0012] Furthermore, in the longitudinal component of the frame mechanism, a collection box is fixedly connected to the same side as the movable wheel. The bottom surface of the collection box has through slots arranged in a straight line array. A support mechanism is fixedly connected to the outer side of the two frame mechanisms. The main body of the support mechanism is a U-shaped structure with a one-way opening at the bottom.

[0013] Furthermore, there are two support mechanisms, which are arranged in a longitudinal array on the outer side of the two frame mechanisms. The inner side of the longitudinal members in both support mechanisms is fixedly connected to a support plate, and the inner side of the transverse members in both support mechanisms is fixedly connected to a top plate assembly.

[0014] Furthermore, the top plate assembly is a rectangular plate structure and is used to move above the tobacco plant. An electrical control box is fixedly connected to the top surface of the top plate assembly. The electrical control box contains at least a controller and a battery. A lighting component is also fixedly connected to the bottom of the top plate assembly.

[0015] Furthermore, the illumination component has a ring structure and is an LED lamp bead structure, and a recognition lens is fixedly connected to the bottom surface of the top plate component. The main body of the recognition lens is a CCD lens structure.

[0016] Furthermore, the identification lens is used to identify the maturity of tobacco leaves and to compare them with the processor in the electrical control box. A support mechanism is fixedly connected to the top surface of the extension bracket. Two guide rail assemblies are fixedly connected to the outside of the support mechanism in opposite directions. The guide rail assemblies are arranged horizontally, and a horizontal groove is opened inside the guide rail assembly. An unfolding push rod is fixedly connected inside the horizontal groove.

[0017] Furthermore, a displacement component is fixedly connected to the side of the unfolding push rod away from the guide rail assembly. Two guide sliders for guidance are fixedly connected to the outer side of the displacement component in opposite directions. A notch is opened on the side of the displacement component away from the guide rail assembly. A positioning block is rotatably connected inside the notch. A servo motor D is rotatably connected to the top of the displacement component. The bottom output shaft of the servo motor D is connected to the positioning block. Arc-shaped slots for approaching the tobacco plant are opened on both the front and rear sides of the positioning block. Two baffle assemblies are fixedly connected in a linear array on the bottom surface of the positioning block. A servo motor E is fixedly connected to the outer side of the baffle assemblies. A clamping assembly is installed on the output shaft of the servo motor E. Two pneumatic gripper assemblies are installed in opposite directions on the inner side of the clamping assembly. A rubber sheet is adhered to the inner wall of the gripper assembly.

[0018] The technical solution provided by this invention has the following advantages compared with the prior art:

[0019] This invention identifies information such as the maturity, leaf toughness, and stem strength of tobacco leaves using a recognition lens, and transmits this information to a processor in the electrical control box. The processor then controls the pneumatic gripper assembly to flexibly adjust the gripping force based on this information. This effectively solves the problem of existing harvesting machinery having no adjustable harvesting force or only a single adjustment method. It can perfectly adapt to the harvesting needs of different growth conditions and different varieties of tobacco leaves, avoiding leaf damage and stem breakage caused by excessive harvesting force, thus ensuring tobacco quality and subsequent plant growth. It also prevents missed harvesting due to insufficient harvesting force. Compared to existing technologies, this invention... The invention not only achieves precise adjustment of the picking force, but also enables multi-dimensional adjustment of the picking position through the coordinated operation of multiple components, including vertical height, horizontal position, and direction adjustment. This ensures that the picking components can accurately align with the target tobacco leaves, improving the accuracy and efficiency of picking. At the same time, the device integrates functions such as information recognition, force adjustment, picking, and collection, forming a complete automated picking system. This reduces manual intervention and labor intensity, significantly improving the efficiency of tobacco leaf picking while ensuring picking quality, and providing a more advanced and practical picking solution for the tobacco planting industry. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the front view structure according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the combined structure of the support mechanism and the top plate assembly according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the combined structure of the vehicle frame mechanism and the moving wheel according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the servo motor C and drive gear combination structure according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the combined structure of the support mechanism and guide rail assembly according to an embodiment of the present invention;

[0026] Figure 6 This is a top view of the structure according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the left-side structure according to an embodiment of the present invention;

[0028] Figure 8 This is a front view structural diagram of an embodiment of the present invention.

[0029] The labels in the diagram represent: 1. Frame mechanism; 101. Moving wheel; 1011. Servo motor A; 1012. Collection box; 2. Support mechanism; 201. Supporting crossbar; 2011. Top plate assembly; 2012. Electrical control box; 2013. Lighting assembly; 2014. Recognition lens; 3. Servo motor B; 301. Seat assembly; 3011. Guide rail assembly; 3012. Lifting push rod; 4. Insertion rod mechanism; 401. Guide block; 4 011, Side plate assembly; 4012, Servo motor C; 4013, Drive gear; 4014, Extension bracket; 4015, Gear rack assembly; 5, Support mechanism; 501, Guide frame assembly; 5011, Deployment push rod; 5012, Displacement assembly; 5013, Guide slider; 6, Servo motor D; 601, Positioning block; 6011, Baffle assembly; 6012, Servo motor E; 6013, Clamping assembly; 6014, Gripper assembly. Detailed Implementation

[0030] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] The present invention will be further described below with reference to embodiments.

[0032] Example:

[0033] Please see Figures 1-8 This invention provides a technical solution: a tobacco leaf picking device with adjustable picking force, comprising two opposing frame mechanisms 1, with two moving wheels 101 mounted in a linear array on the outer sides of each frame mechanism 1, a servo motor B3 mounted on the bottom surface of the frame mechanism 1, and a base assembly 301 mounted on the top output shaft of the servo motor B3.

[0034] A guide rail assembly 3011 is fixedly connected to the top surface of the base assembly 301. A longitudinal groove is formed inside the guide rail assembly 3011, and a longitudinally arranged lifting push rod 3012 is fixedly connected inside the longitudinal groove. A rod insertion mechanism 4 is fixedly connected to the top of the lifting push rod 3012. Two guide blocks 401 are fixedly connected to each other on both the front and rear sides of the rod insertion mechanism 4. Side plate assemblies 4011 are fixedly connected to the outer sides of the guide blocks 401. Every two laterally adjacent side plate assemblies 4011 form a group, and a servo motor C4012 is fixedly connected to the outer sides of both groups of side plate assemblies 4011. A drive gear 4013 is mounted on the output shaft of the servo motor C4012.

[0035] An extension bracket 4014 is inserted into the inside of the insertion rod mechanism 4. The extension bracket 4014 is arranged longitudinally, and a toothed assembly 4015 is fixedly connected to the outside of the extension bracket 4014. Two longitudinally arranged toothed assemblies 4015 are fixedly connected to the outside of each extension bracket 4014 in opposite directions.

[0036] The gear assembly 4015 meshes with the drive gear 4013 for transmission, and the servo motor C4012 and the drive gear 4013 together form a telescopic fine-tuning structure for the extension bracket 4014.

[0037] The main body of the frame mechanism 1 is an L-shaped structure, and a servo motor A1011 is installed on the inner side of the longitudinal component in the frame mechanism 1. The output shaft of the servo motor A1011 is connected to the moving wheel 101. The servo motor A1011 and the moving wheel 101 together form the overall moving drive structure for the harvester.

[0038] In the longitudinal component of the frame mechanism 1, a collection box 1012 is fixedly connected to the same side of the movable wheel 101. The bottom surface of the collection box 1012 has through slots arranged in a straight array. The two outer sides of the frame mechanism 1 are fixedly connected to the support mechanism 2. The main body of the support mechanism 2 is a U-shaped structure with a one-way opening at the bottom.

[0039] There are two support mechanisms 2, and the two support mechanisms 2 are arranged in a longitudinal array on the outer side of the two frame mechanisms 1. The inner side of the longitudinal members of the two support mechanisms 2 is fixedly connected to the support plate 201, and the inner side of the transverse members of the two support mechanisms 2 is fixedly connected to the top plate assembly 2011.

[0040] The top plate assembly 2011 is a rectangular plate structure and is used to move above the tobacco plant. An electrical control box 2012 is fixedly connected to the top surface of the top plate assembly 2011. The electrical control box 2012 contains at least a controller and a battery. A lighting assembly 2013 is also fixedly connected to the bottom of the top plate assembly 2011.

[0041] The illumination component 2013 has a ring structure and is an LED lamp bead structure. The bottom surface of the top plate component 2011 is also fixedly connected to the recognition lens 2014, and the main body of the recognition lens 2014 is a CCD lens structure.

[0042] The identification lens 2014 is used to identify the maturity of tobacco leaves and to compare them with the processor in the control box 2012. A support mechanism 5 is fixedly connected to the top surface of the extension bracket 4014. Two guide frame assemblies 501 are fixedly connected to the outside of the support mechanism 5 in opposite directions. The guide frame assembly 501 is arranged horizontally, and a horizontal groove is opened inside the guide frame assembly 501. An unfolding push rod 5011 is fixedly connected inside the horizontal groove.

[0043] A displacement component 5012 is fixedly connected to the side of the push rod 5011 away from the guide frame assembly 501. Two guide sliders 5013 are fixedly connected to the outer side of the displacement component 5012 in opposite directions. A notch is formed on the side of the displacement component 5012 away from the guide frame assembly 501. A positioning block 601 is rotatably connected inside the notch. A servo motor D6 is rotatably connected to the top of the displacement component 5012. The bottom output shaft of the servo motor D6 is connected to the positioning block 601. Both the front and rear sides of the positioning block 601 are provided with arc-shaped slots for approaching the tobacco plant. Two baffle assemblies 6011 are fixedly connected in a straight array on the bottom surface of the positioning block 601. A servo motor E6012 is fixedly connected to the outer side of the baffle assembly 6011. A clamping assembly 6013 is installed on the output shaft of the servo motor E6012. Two pneumatic gripper assemblies 6014 are installed opposite each other on the inner side of the clamping assembly 6013. A rubber sheet is adhered to the inner wall of the gripper assembly 6014.

[0044] Working principle: The frame mechanism 1 serves as the basic load-bearing structure of the device. Its main body is designed in an L-shape, which can stably support the installation and operation of various components. The servo motor A1011 is installed on the inner side of the longitudinal component in the frame mechanism 1. When the device needs to be moved, the servo motor A1011 receives the command issued by the controller in the electrical control box 2012 and starts. Its output shaft is directly connected to the moving wheel 101. The rotation of the output shaft drives the moving wheel 101 to rotate. Since the two outer sides of the frame mechanism 1 are equipped with two moving wheels 101 in a linear array, the four moving wheels 101 rotate in coordination, realizing the smooth movement of the entire harvesting device in the field, which is convenient for switching operations between different tobacco plant positions.

[0045] A servo motor B3 is installed on the bottom surface of the frame mechanism 1. A seat assembly 301 is installed on the top output shaft of the servo motor B3. When it is necessary to adjust the working direction of the picking component, the controller in the electrical control box 2012 sends a control signal to the servo motor B3. After the servo motor B3 starts, its output shaft drives the seat assembly 301 to rotate, thereby adjusting the orientation of all the connecting components above the seat assembly 301 to adapt to the picking needs of tobacco leaves at different growth angles and ensure that the picking component can accurately align with the target tobacco leaf.

[0046] A guide rail assembly 3011 is fixedly connected to the top surface of the base assembly 301. The guide rail assembly 3011 has a longitudinal groove inside, which provides space and guidance for the installation and movement of the lifting push rod 3012. The lifting push rod 3012 is fixedly fixed in the longitudinal groove, and its top end is fixedly connected to the insertion rod mechanism 4. When it is necessary to adjust the height of the insertion rod mechanism 4 to accommodate tobacco leaves of different heights, the control box 2012 controls the lifting push rod 3012 to extend and retract. The lifting push rod 3012 extends and retracts in the longitudinal groove, driving the insertion rod mechanism 4 to move up and down along the longitudinal direction of the guide rail assembly 3011, thereby accurately adjusting the height position of the insertion rod mechanism 4. Two guide blocks 401 are fixedly connected to each other on the front and rear sides of the insertion rod mechanism 4. The guide blocks 401 play an auxiliary guiding role during the movement of the insertion rod mechanism 4, ensuring the stability of the movement of the insertion rod mechanism 4.

[0047] An extension bracket 4014 is inserted into the inside of the insertion rod mechanism 4. The extension bracket 4014 is longitudinally arranged, and two longitudinally arranged toothed rack assemblies 4015 are fixedly connected to its outer side in opposite directions. A side plate assembly 4011 is fixedly connected to the outer side of the guide block 401. Every two laterally adjacent side plate assemblies 4011 form a group. A servo motor C4012 is fixedly connected to the outer side of each group of side plate assemblies 4011. A drive gear 4013 is mounted on the output shaft of the servo motor C4012, and the drive gear 4013 meshes with the toothed rack assembly 4015 for transmission. When further fine-tuning of the longitudinal position of the picking component is required, the electrical control box... In 2012, the servo motor C4012 is started, and the servo motor C4012 drives the drive gear 4013 to rotate. Since the drive gear 4013 meshes with the gear assembly 4015, the rotation of the drive gear 4013 is converted into the extension and retraction movement of the extension bracket 4014 along the inside of the insertion rod mechanism 4, realizing the extension and retraction fine adjustment of the extension bracket 4014, so that the picking component can more accurately approach the target tobacco leaf. In the subsequent picking process, through the meshing transmission between the drive gear 4013 and the gear assembly 4015, the tobacco leaf can also be slightly broken off with less force. This method can be used for picking tobacco leaves with higher maturity.

[0048] During the movement of the harvester, support mechanisms 2 are fixedly connected to the outer sides of the two frame mechanisms 1. The main body of the support mechanism 2 is a U-shaped structure with a one-way opening at the bottom, and there are two of them, arranged in a longitudinal array on the outer side of the two frame mechanisms 1. The inner side of the transverse members in the two support mechanisms 2 is fixedly connected to the top plate assembly 2011. The top plate assembly 2011 is a rectangular plate structure that moves above the tobacco plants as the device moves. The top surface of the top plate assembly 2011 is fixedly connected to the electrical control box 2012, which contains a controller and a battery, providing power and control support for the entire device; its bottom... The device is fixedly connected to a light-emitting component 2013 and a recognition lens 2014. The light-emitting component 2013 is a ring-shaped LED light bead structure, which provides sufficient and uniform illumination when the light is insufficient, ensuring that the recognition lens 2014 can clearly capture images of tobacco leaves. The recognition lens 2014 is a CCD lens structure, which captures images of tobacco leaves in real time during the movement of the device and transmits the captured tobacco leaf image information to the processor in the electrical control box 2012. The processor analyzes and processes the images to identify information such as the maturity of the tobacco leaves, leaf toughness, and stem strength, providing an accurate basis for adjusting the subsequent harvesting intensity.

[0049] A support mechanism 5 is fixedly connected to the top surface of the extension bracket 4014. Two horizontally arranged guide frame assemblies 501 are fixedly connected to the outer side of the support mechanism 5. A horizontal groove is opened inside the guide frame assembly 501. An unfolding push rod 5011 is fixedly connected in the horizontal groove. A displacement assembly 5012 is fixedly connected to the side of the unfolding push rod 5011 away from the guide frame assembly 501. Two guide sliders 5013 are fixedly connected to the outer side of the displacement assembly 5012. The guide sliders 5013 cooperate with the guide frame assembly 501 to provide guidance for the movement of the displacement assembly 5012. When it is necessary to adjust the lateral position of the picking component to align with the target tobacco leaf, the control box 2012 controls the unfolding push rod 5011 to extend and retract according to the information transmitted from the recognition lens 2014. The unfolding push rod 5011 extends and retracts in the horizontal groove, driving the displacement assembly 5012 to move along the lateral direction of the guide frame assembly 501, thereby adjusting the lateral position of the picking component to accurately align with the tobacco leaf to be picked.

[0050] The displacement component 5012 has a notch on the side away from the guide frame component 501, and a positioning block 601 is rotatably connected inside. The top of the displacement component 5012 is rotatably connected to the servo motor D6, and its bottom output shaft is connected to the positioning block 601. When the displacement component 5012 moves to a suitable lateral position, the electrical control box 2012 controls the servo motor D6 to start. The output shaft of the servo motor D6 drives the positioning block 601 to rotate in the notch, so that the arc-shaped slots on the front and rear sides of the positioning block 601 approach and fit with the tobacco plant, thereby achieving precise positioning of the tobacco plant and preventing the plant from shaking during the harvesting process and affecting the harvesting accuracy.

[0051] Two baffle assemblies 6011 are fixedly connected in a linear array on the bottom surface of the positioning block 601. A servo motor E6012 is fixedly connected to the outside of the baffle assembly 6011. A clamping assembly 6013 is mounted on the output shaft of the servo motor E6012. After the positioning block 601 completes positioning, the electrical control box 2012 controls the servo motor E6012 to start, and its output shaft drives the clamping assembly 6013 to rotate, so that the two pneumatic gripper assemblies 6014 installed opposite to each other on the inner side of the clamping assembly 6013 are aligned with the tobacco leaves to be picked. Subsequently, the controller controls the pneumatic gripper assemblies 6014 to move according to the previously identified tobacco leaf information. The pneumatic structure of 014 adjusts the clamping force: for tobacco leaves with high maturity, poor leaf toughness, and weak stem strength, the clamping claw assembly 6014 is controlled to clamp with a smaller force to avoid damage to the tobacco leaves and breakage of the stems; for tobacco leaves with low maturity, good leaf toughness, and strong stem strength, a larger force is used to ensure smooth harvesting of the tobacco leaves and prevent missed harvesting. Rubber sheets are adhered to the inner wall of the clamping claw assembly 6014 to further buffer the clamping force and avoid damage to the tobacco leaves during the clamping process. After clamping, by using two different force driving harvesting methods, the appropriate harvesting force is selected to pick the tobacco leaves from the tobacco plant.

[0052] In the frame mechanism 1, a collection box 1012 is fixedly connected to the same side of the moving wheel 101 in the longitudinal component. The harvested tobacco leaves fall into the collection box 1012 under the action of gravity for collection. The bottom surface of the collection box 1012 has through grooves in a straight array, which can reduce the compression caused by the accumulation of tobacco leaves in the collection box 1012 and protect the quality of the tobacco leaves. At the same time, the inner side of the longitudinal component in both support mechanisms 2 is fixedly connected to the support plate 201, which plays an auxiliary support role for the entire support mechanism 2 and the upper components, and enhances the overall stability of the device.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tobacco leaf picking device with adjustable picking force, comprising two opposing frame mechanisms (1) and a support mechanism (5), characterized in that: Two moving wheels (101) are installed in a straight array on the outer side of the two frame mechanisms (1). A servo motor B (3) is installed on the bottom surface of the frame mechanism (1). A seat assembly (301) is installed on the top output shaft of the servo motor B (3). The support mechanism (5) is fixedly connected to the top surface of the extension bracket (4014). A guide rail assembly (3011) is fixedly connected to the top surface of the seat assembly (301). A longitudinal groove is provided inside the guide rail assembly (3011). A longitudinally arranged lifting push rod (3012) is fixedly connected inside the longitudinal groove. A rod insertion mechanism (4) is fixedly connected to the top of the lifting push rod (3012). Two guide blocks (401) are fixedly connected to each other on both the front and rear sides of the rod insertion mechanism (4). A side plate assembly (4011) is fixedly connected to the outside of the guide block (401). Every two horizontally adjacent side plate assemblies (4011) form a group. A servo motor C (4012) is fixedly connected to the outside of both groups of side plate assemblies (4011). A drive gear (4013) is installed on the output shaft of the servo motor C (4012). Two guide frame assemblies (501) are fixedly connected to each other on the outside of the support mechanism (5). The guide frame assembly (501) is arranged horizontally, and a horizontal groove is opened inside the guide frame assembly (501). An unfolding push rod (5011) is fixedly connected inside the horizontal groove. A displacement assembly (5012) is fixedly connected to the side of the unfolding push rod (5011) away from the guide frame assembly (501). Two guide sliders (5013) for guiding are fixedly connected to the outer side of the displacement assembly (5012) in opposite directions. A notch is opened on the side of the displacement assembly (5012) away from the guide frame assembly (501). A positioning block (601) is rotatably connected inside the notch. A servo motor D (6) is rotatably connected to the top of the displacement assembly (5012). The bottom output shaft of the servo motor D (6) is connected to the positioning block (601). Arc-shaped slots for approaching the tobacco plant are opened on both the front and rear sides of the positioning block (601).

2. The tobacco leaf harvesting device with adjustable harvesting force according to claim 1, characterized in that: An extension bracket (4014) is inserted into the inside of the insertion rod mechanism (4). The extension bracket (4014) is arranged longitudinally, and a toothed assembly (4015) is fixedly connected to the outside of the extension bracket (4014). Two longitudinally arranged toothed assemblies (4015) are fixedly connected to the outside of each extension bracket (4014) in opposite directions.

3. The tobacco leaf harvesting device with adjustable harvesting force according to claim 2, characterized in that: The gear assembly (4015) meshes with the drive gear (4013) for transmission, and the servo motor C (4012) and the drive gear (4013) together form a telescopic fine-tuning structure for the extension bracket (4014).

4. The tobacco leaf harvesting device with adjustable harvesting force according to claim 1, characterized in that: The main body of the frame mechanism (1) is an L-shaped structure, and a servo motor A (1011) is installed on the inner side of the longitudinal component in the frame mechanism (1). The output shaft of the servo motor A (1011) is connected to the moving wheel (101). The servo motor A (1011) and the moving wheel (101) together form the overall moving drive structure for the harvester.

5. The tobacco leaf picking device with adjustable picking force according to claim 4, characterized in that: The longitudinal component of the frame mechanism (1) is provided with a collection box (1012) fixedly connected to the same side of the moving wheel (101). The bottom surface of the collection box (1012) is provided with through slots in a straight array. The two frame mechanisms (1) are fixedly connected to the outside of the bracket mechanism (2). The main body of the bracket mechanism (2) is a U-shaped structure with a one-way opening at the bottom.

6. The tobacco leaf picking device with adjustable picking force according to claim 5, characterized in that: The support mechanism (2) is provided in two places, and the two support mechanisms (2) are arranged in a longitudinal array on the outer side of the two frame mechanisms (1). The inner side of the longitudinal member of the two support mechanisms (2) is fixedly connected to the support plate (201), and the inner side of the transverse member of the two support mechanisms (2) is fixedly connected to the top plate assembly (2011).

7. The tobacco leaf picking device with adjustable picking force according to claim 6, characterized in that: The top plate assembly (2011) is a rectangular plate structure and is used to move above the tobacco plant. An electrical control box (2012) is fixedly connected to the top surface of the top plate assembly (2011). The electrical control box (2012) contains at least a controller and a battery. A lighting component (2013) is also fixedly connected to the bottom of the top plate assembly (2011).

8. The tobacco leaf picking device with adjustable picking force according to claim 7, characterized in that: The illumination component (2013) has a ring structure and is an LED lamp bead structure. A recognition lens (2014) is also fixedly connected to the bottom surface of the top plate component (2011). The main body of the recognition lens (2014) is a CCD lens structure.

9. A tobacco leaf picking device with adjustable picking force according to claim 8, characterized in that: The identification lens (2014) is used to identify the maturity of tobacco leaves and to compare them with the processor in the electrical control box (2012).

10. A tobacco leaf harvesting device with adjustable harvesting force according to claim 1, characterized in that: The positioning block (601) has two baffle assemblies (6011) fixedly connected in a linear array on its bottom surface. A servo motor E (6012) is fixedly connected to the outside of the baffle assembly (6011). A clamping assembly (6013) is installed on the output shaft of the servo motor E (6012). Two pneumatic gripper assemblies (6014) are installed opposite each other on the inside of the gripper assembly (6013). A rubber sheet is adhered to the inner wall of the gripper assembly (6014).

Images