Intelligent mulberry leaf picking machine

Abstract

The utility model discloses an intelligent mulberry leaf picking machine which comprises a moving platform, a mechanical arm, a mulberry leaf collecting device and a visual identification system, and the moving platform is sequentially provided with the mechanical arm, the visual identification system and the mulberry leaf collecting device from front to back. The mechanical arm comprises a fixed support, a rotating support, a lower mechanical arm body and an upper mechanical arm body which are sequentially connected from bottom to top, the two sides of the rotating support are each provided with a steering engine, and the tail end of the upper mechanical arm body is provided with a mechanical claw and a picker body, so that the automatic mulberry leaf picking machine is widely applied to the silk industry; the problem that mulberry leaves are difficult to pick is effectively solved, the picking efficiency and quality are improved, the cost is reduced, the adopted picking device is provided with a clamping plate, an ejector pin, a crescent plate and other structures, mulberry leaves on a whole branch can be conveniently picked, cutting can be conducted at the detected fixed point position of the branch, and the picking efficiency is improved. The mulberry leaves within a specified length range are picked while small leaves growing at tips are retained.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and in particular relates to an intelligent mulberry leaf picking machine. Background Art

[0002] The intelligent mulberry leaf picking machine is a mechanical device specially used for picking mulberry leaves. It is designed to solve the problem of high labor intensity and low efficiency in the process of picking mulberry leaves. Because mulberry leaves are the main feed for raising silkworms, they play a very important role in mulberry leaf sericulture.

[0003] The technical background of the mulberry leaf picker covers many fields such as mechanical design, dynamics, and operation control. By rationally designing the mechanical structure and optimizing the power transmission system, the picking efficiency can be improved and energy consumption can be reduced. At the same time, by combining sensors and intelligent control technology, automatic operation can be achieved to improve work accuracy and stability. In addition, the adaptability of the machine to different terrains and environmental conditions, as well as its environmental friendliness, etc., also need to be considered.

[0004] With the continuous advancement and development of science and technology, the technology of mulberry leaf picking machines is also constantly being updated and improved to meet the needs of modern agricultural production for efficient and intelligent equipment.

[0005] The utility model applicant discovered during actual use that these prior arts have at least the following technical problems:

[0006] The existing picking machinery is still in the auxiliary tool stage, and it is difficult to achieve automated picking. Some picking tools have a limited number of pickings at a time and cannot pick mulberry leaves from one branch at a time. At the same time, it is difficult to ensure the integrity of the mulberry leaves, and the mulberry leaves are easily damaged, which will have an adverse effect on subsequent processes such as storage and cleaning of the mulberry leaves. Utility Model Content

[0007] In order to overcome the above-mentioned deficiencies, an intelligent mulberry leaf picking machine is proposed, which makes the automatic mulberry leaf picking machine widely used in the silk industry, effectively solves the problem of difficult mulberry leaf picking, improves picking efficiency and quality, reduces costs, and also provides a new way for rural labor transfer and injects new vitality into the development of the rural economy. The picker is equipped with clamping plates, thimbles, crescent plates and other structures, which can conveniently pick mulberry leaves on the whole branch, and can also cut into the fixed position of the detected branch, pick mulberry leaves within a specified length range and retain the smaller leaves growing at the tip, to achieve automatic and fine picking.

[0008] To achieve the above purpose, the technical solution adopted by the utility model is to provide an intelligent mulberry leaf picker. It includes a mobile platform, a mechanical arm, a mulberry leaf collection device, and a visual recognition system. The mobile platform is equipped with a mechanical arm, a visual recognition system, and a mulberry leaf collection device from front to back. The mechanical arm is connected in the order of a fixed support, a rotating support, a lower mechanical arm, and an upper mechanical arm from bottom to top. A steering gear is installed on each side of the rotating support. A mechanical claw and a picker are arranged at the end of the upper mechanical arm.

[0009] According to the intelligent mulberry leaf picking machine described in the utility model, a further preferred technical solution is: the mobile platform includes a crawler and a fixed platform, and the fixed platform is arranged on the crawler and moves using the crawler.

[0010] According to the intelligent mulberry leaf picking machine described in the utility model, a further preferred technical solution is: the fixed support is hollow inside for installing electric wires.

[0011] According to the intelligent mulberry leaf picking machine described in the utility model, its further preferred technical solution is: the fixed support is fixedly installed on the mobile platform, the upper part of the fixed support is a circular depression, the rotating support is coaxially installed in the circular depression, the lower mechanical arm is installed on the rotating support, the lower mechanical arm swings on a plane perpendicular to the mobile platform, a rotating shaft is provided at the end of the lower mechanical arm for installing the upper mechanical arm, a mechanical claw is provided at the end of the upper mechanical arm, and a picker is installed on the mechanical claw.

[0012] According to the intelligent mulberry leaf picking machine described in the utility model, a further preferred technical solution is: the mechanical claw is a symmetrical design with three connecting rods on one side, and the end of the connecting rod is connected to the picker for opening and closing the picker.

[0013] According to the intelligent mulberry leaf picking machine described in the utility model, its further preferred technical solution is: the picker includes a clamping plate, a thimble, and a crescent plate. There are two clamping plates, which are respectively installed on three connecting rods on one side. When the two clamping plates are closed, there is a branch hole in the middle for accommodating mulberry branches. A thimble parallel to the branch hole is arranged on the clamping plate. The clamping plate is also provided with a crescent plate which moves back and forth in the area where the thimble is located and is used to push out mulberry leaves.

[0014] According to the intelligent mulberry leaf picking machine described in the utility model, a further preferred technical solution is that the front end of the thimble is set as a sharp end for piercing the petiole of the mulberry leaf.

[0015] According to the intelligent mulberry leaf picking machine described in the utility model, a further preferred technical solution is: the top pins are arranged around the branch holes and located at the edge of the clamping plate, and the top pins correspond to the petiole area of ​​the mulberry leaves on the branches for easy clamping.

[0016] According to the intelligent mulberry leaf picking machine described in the utility model, its further preferred technical solution is: the mulberry leaf collecting device is a storage frame with an open upper end, the mulberry leaf collecting device is connected to the mobile platform through a fixed rotation and a group of retractable push rods, and the retractable push rods are located on the inner side to form a self-unloading bucket.

[0017] Compared with the prior art, the technical solution of the utility model has the following advantages / benefits:

[0018] 1. The mulberry leaf picking machine of the utility model makes the automatic mulberry leaf picking machine widely used in the silk industry, effectively solves the problem of difficult mulberry leaf picking, improves picking efficiency and quality, reduces costs, and also provides a new way for rural labor transfer and injects new vitality into the development of the rural economy.

[0019] 2. The picker used is equipped with a clamping plate, a thimble, a crescent plate and other structures, which can easily pick the mulberry leaves on the whole branch, or cut into the fixed position of the detected branch, pick the mulberry leaves within the specified length range and retain the smaller leaves growing at the tip, realizing automatic and fine picking.

[0020] 3. The picker uses a thimble and a crescent plate to collect and detach the mulberry leaves, which can achieve complete picking of the mulberry leaves to a great extent. The self-unloading structure of the mulberry leaf collection device facilitates the automatic unloading of the mulberry leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 The utility model is a structural schematic diagram of an intelligent mulberry leaf picking machine.

[0023] Figure 2 The utility model is a schematic diagram of the structure of a picker of an intelligent mulberry leaf picker.

[0024] The markings in the figure are: 1- crawler; 2- fixed platform; 3- mulberry leaf collecting device; 4- push rod; 5- support column; 6- visual recognition system; 7- mechanical arm; 71- picker; 711- thimble; 712- crescent plate; 713- branch hole; 714- mounting plate; 72- mechanical claw; 73- upper mechanical arm; 74- lower mechanical arm; 75- rotating support; 76- fixed support. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme in the implementation mode of the utility model is clearly and completely described below. Obviously, the described implementation mode is a part of the implementation mode of the utility model, not all the implementation modes. Based on the implementation mode in the utility model, all other implementation modes obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Therefore, the detailed description of the implementation mode of the utility model provided below is not intended to limit the scope of the utility model claimed for protection, but only represents the selected implementation mode of the utility model.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it may not be further defined or explained in the subsequent drawings.

[0027] Example:

[0028] like Figure 1 As shown, an intelligent mulberry leaf picking machine comprises a mobile platform, a mechanical arm 7, a mulberry leaf collecting device 3, and a visual recognition system 6. The mobile platform is sequentially equipped with a mechanical arm, a visual recognition system 6, and a mulberry leaf collecting device 3 from front to back. The mechanical arm 7 is sequentially connected from bottom to top in the order of a fixed support 76, a rotating support 75, a lower mechanical arm 74, and an upper mechanical arm 73. A steering gear is installed on each side of the rotating support. A mechanical claw 72 and a picker 71 are arranged at the end of the upper mechanical arm.

[0029] The front grabbing part of the mechanical claw 72 is rubber, which has better friction and is convenient for controlling the up and down movement of the picker 71. The mechanical claw 72 is fixed to the mechanical arm 7 with a pin, and a mulberry leaf collecting device 3 is provided next to the mechanical arm 7. The mechanical arm 7 is fixedly installed on the fixed platform 2 by bolts, and the mulberry leaf collecting device 3 is fixedly installed on the fixed platform 2 by pins, and the visual recognition system 6 is fixed to the support column 5 by bolts. The crawler 1 moves to the position of collecting mulberry leaves, and the visual recognition system 6 finds the position of mulberry leaves through the image processing technology of the visual recognition system. The mechanical arm 7 drives the gear center to rotate through the transmission of the steering gear, moves to the position where the mulberry leaves are picked, and the mechanical claw 71 controls the thimble of the picker 71 to scrape, and the mulberry leaf branch is stuck on the thimble. The mechanical arm 7 moves in a circle to the top of the mulberry leaf collecting device 3, and the spring in the picker 71 pushes forward to push the mulberry leaves into the mulberry leaf collecting device 3 until the mulberry leaf collecting device 3 is filled. The steering gear adopts a high-pressure steering gear.

[0030] The mobile platform includes a crawler 1 and a fixed platform 2. The fixed platform 2 is arranged on the crawler 1 and moves using the crawler 1. The crawler 1 has good mobility and is not prone to slipping.

[0031] The interior of the fixing support is hollow for installing electric wires, so that there are no exposed cables outside.

[0032] The fixed support 76 is fixedly installed on the mobile platform, and the upper part of the fixed support 76 is a circular depression. The rotating support 75 is coaxially installed in the circular depression. The lower mechanical arm 74 is installed on the rotating support 75. The lower mechanical arm 74 swings on a plane perpendicular to the mobile platform. A rotating shaft is set at the end of the lower mechanical arm 74 for installing the upper mechanical arm 73. A mechanical claw 72 is set at the end of the upper mechanical arm 73. A picker 71 is installed on the mechanical claw 72. The combined structure of the upper mechanical arm 73 and the lower mechanical arm 74 is used to realize front and back and height adjustment. The rotating support 75 realizes circumferential rotation, thereby realizing the picking of mulberry leaves at any angle and position.

[0033] The mechanical claw 72 is a symmetrical design with three connecting rods on one side, and the ends of the connecting rods are connected to the pickers for opening and closing the pickers, that is, opening and closing the two clamping plates.

[0034] like Figure 2 As shown, the picker includes a clamping plate, a thimble, and a crescent plate. There are two clamping plates, which are respectively installed on three connecting rods on one side. When the two clamping plates are closed, there is a branch hole in the middle for accommodating mulberry branches. A thimble parallel to the branch hole is arranged on the clamping plate. The clamping plate is also provided with a crescent plate for pushing out mulberry leaves, which moves back and forth in the area where the thimble is located. The pushing out of the crescent plate can be achieved by using a cylinder spring to push out and return, or by using a motor worm to push out and return.

[0035] The front end of the thimble is set to a sharp end for piercing the petiole of the mulberry leaf. Of course, the gap between the two thimbles is also used to fix the mulberry leaf. At the same time, in order to stably fix the mulberry leaf, the density of the thimble needs to be larger. At the same time, two circles can be staggered to prevent falling off.

[0036] The thimbles are arranged around the branch holes and located at the edge of the clamping plate. The thimbles correspond to the petiole area of ​​the mulberry leaves on the branches for easy clamping. Preferably, the end length of the petiole corresponds to the basic width of the thimble area to achieve more stable clamping.

[0037] The mechanical arm 7 is fixed with the mechanical claw 72 by a latch, and the picker 71 is fixed with the mechanical claw by a latch. The mechanical arm 7 drives the mechanical claw 72 to contract by a connecting rod, controls the picker's thimble 711 to scrape, and scrapes the mulberry leaves from the mulberry tree. The collected mulberry leaves are moved in a circular motion to the top of the mulberry leaf collection device 3 by the mechanical arm 7, and the fully picked mulberry leaves are pushed from the thimble 711 on the crescent plate 712 to the mulberry leaf collection device 3 by the spring inside the picker. The mulberry leaf collection device 3 is a storage frame with an open upper end, and the mulberry leaf collection device 3 is connected to the mobile platform by fixed rotation and a group of retractable push rods 4, and the retractable push rods 4 are located on the inner side to form a self-unloading bucket. When the mulberry leaves in the mulberry leaf collection device 3 reach a certain number, the trolley goes to the designated position, and the internal power device of the mulberry leaf collection device 3 drives the control device to flip the mulberry leaf collection device 3 and unload the picked mulberry leaves.

[0038] Usage: When picking mulberry leaves, the crawler 1 moves to a suitable position for collecting mulberry leaves, and the visual recognition system 6 captures the X and Y axes where the mulberry leaves are located through the lens and projects them onto the image sensor, and then the crawler 1 is fixed in position. The mechanical arm 7 drives the gear center to rotate through the signal given by the visual recognition system 6 and the transmission of the steering gear, and the mechanical arm 7 moves to the position where the mulberry leaves will be picked. The mechanical claw 72 controls the picker 71 to collect mulberry leaves, and scrapes them from top to bottom through the thimble 711. The collected mulberry leaf stalks will be stuck on the thimble 711 of the picker 71. The mechanical arm 7 places the mulberry leaves on the top of the mulberry leaf collection device 3 through a circular motion, and the crescent plate 712 pushes the mulberry leaves through the internal spring and falls into the mulberry leaf collection device 3. Then the crawler 1 is unfixed and goes to the next mulberry leaf collection location, and the above operation is repeated until the mulberry leaves fill the mulberry leaf collection device 3. The crawler 1 is unfixed and moves to the collection point. The mulberry leaf collection device 3 pours out the mulberry leaves and concentrates them at one point through the power device and the control device, and the manual operation waits here. After the mulberry leaf collecting device 3 finishes its operation, the crawler 1 goes to the next mulberry leaf collecting location to continue its operation.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent mulberry leaf picking machine, characterized in that: It includes a mobile platform, a robotic arm, a mulberry leaf collecting device, and a visual recognition system. The mobile platform is equipped with the robotic arm, the visual recognition system, and the mulberry leaf collecting device in sequence from front to back. The robotic arm is connected in the order of a fixed support, a rotating support, a lower robotic arm, and an upper robotic arm from bottom to top. A servo is installed on each side of the rotating support. A mechanical claw and a picker are arranged at the end of the upper robotic arm.

2. The intelligent mulberry leaf picking machine according to claim 1, characterized in that: The mobile platform comprises a crawler track and a fixed platform, wherein the fixed platform is arranged on the crawler track and moves by means of the crawler track.

3. The intelligent mulberry leaf picking machine according to claim 1, characterized in that: The interior of the fixed support is hollow and is used for installing electric wires.

4. The intelligent mulberry leaf picking machine according to claim 1, characterized in that: The fixed support is fixedly installed on the mobile platform, the upper part of the fixed support is a circular depression, and the rotating support is coaxially installed in the circular depression. The lower mechanical arm is installed on the rotating support. The lower mechanical arm swings on a plane perpendicular to the mobile platform. A rotating shaft is set at the end of the lower mechanical arm for installing the upper mechanical arm. A mechanical claw is set at the end of the upper mechanical arm, and a picker is installed on the mechanical claw.

5. The intelligent mulberry leaf picking machine according to claim 1, characterized in that: The mechanical claw is a symmetrical design with three connecting rods on one side, and the ends of the connecting rods are connected to the pickers for opening and closing the pickers.

6. The intelligent mulberry leaf picking machine according to claim 5, characterized in that: The picker includes a clamping plate, a thimble, and a crescent plate. There are two clamping plates, which are respectively installed on three connecting rods on one side. When the two clamping plates are closed, there is a branch hole in the middle for accommodating mulberry branches. A thimble parallel to the branch hole is arranged on the clamping plate. The clamping plate is also provided with a crescent plate which moves back and forth in the area where the thimble is located and is used to push out mulberry leaves.

7. The intelligent mulberry leaf picking machine according to claim 6, characterized in that: The front end of the thimble is configured as a sharp end for piercing the petiole of the mulberry leaf.

8. The intelligent mulberry leaf picking machine according to claim 7, characterized in that: The top pins are arranged around the branch holes and are located at the edge of the clamping plate. The top pins correspond to the petiole areas of the mulberry leaves on the branches for easy clamping.

9. The intelligent mulberry leaf picking machine according to claim 1, characterized in that: The mulberry leaf collecting device is a storage frame with an open upper end. The mulberry leaf collecting device is connected to the mobile platform through a fixed rotation and a group of retractable push rods, and the retractable push rods are located on the inner side to form a self-unloading bucket.

Images