Clamping mechanism and leaf picking device

Abstract

The utility model discloses a clamping mechanism and a leaf picking device, a fixed seat is provided with a lead screw pair, a lead screw of the lead screw pair vertically extends downwards, a nut of the lead screw pair is provided with leaf picking handles in pairs, the two leaf picking handles are rotatably arranged on the nut, a reset spring is arranged between the two leaf picking handles, the fixed seat is provided with clamping handles in pairs, and the clamping handles are rotatably arranged on the nut. The two clamping handles are rotatably installed on the fixing base, at least one vertical guide rod is installed on the leaf picking handle, the guide rod extends upwards and penetrates through the corresponding clamping handles, slide carriages are installed on the two outer side walls of the fixing base, on a forward projection plane, the bottoms of the lead screws are located below the slide carriages, and wedge-shaped faces extending outwards are arranged on the inner sides of the bottoms of the slide carriages. Rotatable balls are arranged at the ends, close to the slide carriages, of the leaf picking handles and can slide along the inner sides of the corresponding slide carriages. The leaf stripping device has the advantages that in the leaf stripping process, tender leaves can be protected, branches can be protected, and the branches are prevented from being broken off.

Description

Technical Field

[0001] The utility model relates to mulberry leaf picking, in particular to a clamping mechanism and a leaf picking device. Background Art

[0002] China is a major exporter of sericulture products worldwide, with a long history and culture. The sericulture industry has experienced rapid development in recent years. Mulberry leaves, a key raw material for the industry, are a key cash crop in my country due to their rich medicinal value, antioxidant properties, and anti-aging properties. However, mechanized harvesting is currently a bottleneck for the industry.

[0003] At present, there is little research on mulberry leaf harvesters. A stem and leaf separator suitable for mulberry branches has been designed abroad. An automatic reciprocating, rocker-type, and positioning mulberry leaf picking machine has been proposed domestically, such as: China Invention Patent: A Mulberry Leaf Picking Device (Publication No.: CN116210455A). The device uses a harvesting component to harvest mulberry leaves. However, when harvesting, the harvesting component moves from bottom to top to cut the petioles of the mulberry leaves. The branches are not restricted, which makes it easy to break the mulberry branches when harvesting the mulberry leaves. Another example: China Invention Patent: A Negative Pressure Mulberry Leaf Automatic The picking machine (publication number: CN114793624A) realizes free movement in both horizontal and vertical directions through the mulberry leaf picking device connected to the screw. The scraper combined with the comb brush teeth can pick the plane within the entire stroke; during the picking process, the mulberry leaves that are separated are immediately collected by the hose connected to the scraper under the influence of gravity and suction to the discharge port of the negative pressure fan and fall into the traction trolley. During the harvesting process, the comb brush teeth have no restrictions on the branches, so the mulberry branches are also easily broken during the picking process. In addition, the tender leaves on the top of the branches are not protected during the picking process. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a clamping mechanism and a leaf picking device.

[0005] The object of the utility model is achieved through the following technical solutions: a clamping mechanism, including a fixed seat, a clamping handle and a leaf picking handle, a screw pair is installed on the fixed seat, the screw of the screw pair extends vertically downward, the leaf picking handles are installed in pairs on the nut of the screw pair, and the two leaf picking handles are rotatably installed on the nut, a return spring is provided between the two leaf picking handles, the clamping handles are installed in pairs on the fixed seat, and the two clamping handles are rotatably installed on the fixed seat, at least one vertical guide rod is installed on the leaf picking handle, the guide rod extends upward and passes through the corresponding clamping handle, slides are installed on the two outer side walls of the fixed seat, on the positive projection plane, the bottom of the screw is located below the slide, and the inner side of the bottom of the slide is provided with an outward-stretched wedge surface, and the end of the leaf picking handle close to the slide is provided with a rotatable ball, and the ball can slide along the inner side of the corresponding slide.

[0006] Optionally, the tops of the guide rods on the same clamping handle are connected via a connecting piece.

[0007] Optionally, a soft pad is installed on the inner side of the clamping end of the clamping handle.

[0008] Optionally, the rotating ends of the two clamping handles are meshed through a meshing gear pair.

[0009] Optionally, a convex column is provided on the top of the leaf picking stalk, and both ends of the return spring are respectively installed on the corresponding convex columns.

[0010] Optionally, a first mounting groove is provided on the fixing seat, the clamping handle is rotatably mounted in the first mounting groove via a rotating shaft, and the meshing gear pair is located in the first mounting groove.

[0011] Optionally, a mounting portion is provided on the nut, and a second mounting groove is opened on the mounting portion. The leaf picking stalk can be rotatably mounted in the second mounting groove through a rotating shaft, and the ball can be hidden in the second mounting groove.

[0012] Optionally, a step is provided at the end of the rotating end of the leaf picking handle, and the ball is rotatably mounted on the step via a rotating shaft.

[0013] A leaf picking device comprises the above-mentioned clamping mechanism. A plurality of needle rods arranged at intervals are installed on the leaf picking stalk, and the needle rods extend downward. A gap is provided between the two leaf picking stalks for branches to pass through.

[0014] Optionally, the petiole is a semicircular structure, two petioles form a gap, and the needle rods are evenly spaced and distributed on the same circumference.

[0015] The utility model has the following advantages: in the leaf-picking device of the utility model, when the driving motor drives the nut downward, the clamping handle will not clamp the upper part of the branch during the movement of the ball along the inner side of the slide, and at this time, the leaf-picking handle will not pick the tender leaves on the upper part of the branch during the downward process, thereby protecting the tender leaves; and when the ball is separated from the slide, the clamping handle can clamp the upper part of the branch again, so that the upper part of the branch is fixed, and then the mulberry leaves are picked from top to bottom, thereby protecting the branch and preventing the branch from being broken. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the utility model Figure 1

[0017] Figure 2 This is a schematic diagram of the structure of the utility model Figure 2 ;

[0018] Figure 3 for Figure 2 Schematic diagram of the structure of AA;

[0019] Figure 4 for Figure 2 Schematic diagram of the structure of the middle BB;

[0020] Figure 5 for Figure 2 Schematic diagram of the structure of CC;

[0021] In the figure, 11-leaf picking stalk, 12-needle rod, 21-clamping handle, 22-guide rod, 23-connecting piece, 24-fixed seat, 25-slide, 26-driving motor, 27-nut, 28-screw, 29-return spring, 31-meshing gear pair, 32-cushion, 33-ball. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0026] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the present invention is typically placed when in use, or are the orientations or positional relationships commonly understood by those skilled in the art. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances. Example

[0028] like Figure 1 and Figure 2 As shown, a clamping mechanism includes a fixed seat 24, a clamping handle 21 and a leaf picking petiole 11. A screw pair is installed on the fixed seat 24. The screw pair is a prior art. The specific screw pair includes a drive motor 26, a screw 28 and a nut 27. The drive motor 26 is installed on the top of the fixed seat 24. The screw 28 of the screw pair extends vertically downward. The leaf picking petioles 11 are installed in pairs on the nut 27 of the screw pair, and the two leaf picking petioles 11 are rotatably installed on the nut 27. A reset spring 29 is provided between the two leaf picking petioles 11. In this embodiment, the reset spring 29 is always in a stretched state. Therefore, the two leaf picking petioles 1 1 always has a tendency to move closer together. A pair of clamping handles 21 are installed on the fixing seat 24, and the two clamping handles 21 are rotatably installed on the fixing seat 24. In this embodiment, a mounting portion is provided on the nut 27, and a second mounting groove is opened on the mounting portion. The leaf picking handle 11 is rotatably installed in the second mounting groove through the rotating shaft, and the ball 33 can be hidden in the second mounting groove. Therefore, the leaf picking handle 11 is equivalent to a lever rotating around the rotating shaft. When the distance between the two balls 33 is reduced, the two leaf picking handles 11 are opened. When the distance between the two balls 33 is increased, the two leaf picking handles 11 are closed together. In this embodiment, as shown in FIG. Figure 1 and Figure 2As shown, at least one vertical guide rod 22 is installed on the leaf picking stem 11, and the guide rod 22 extends upward and passes through the corresponding clamping handle 21. The clamping handle 21 is connected to the leaf picking stem 11 through the guide rod 22, so the leaf picking stem 11 and the clamping handle 21 are opened and closed synchronously, that is, when the leaf picking stem 11 is opened, the clamping handle 21 is also opened, and when the leaf picking stem 11 is closed, the clamping handle 21 is also closed. In this embodiment, Figure 1 and Figure 2 As shown, slide plates 25 are mounted on the two outer side walls of the fixed seat 24. In the forward projection plane, the bottom of the lead screw 28 is located below the slide plate 25. Figure 5 As shown, the inner side of the bottom of the slide 25 is provided with a wedge-shaped surface that extends outward, and a rotatable ball 33 is provided on the end of the leaf picking handle 11 near the slide 25, and the ball 33 can slide along the inner side of the corresponding slide 25. When the ball 33 is separated from the slide 25, that is, when the ball 33 is located below the slide 25, the two leaf picking handles 11 are closed together under the pulling force of the return spring 29, and the clamping handle 21 is closed together and clamps the clamping member. At this time, the distance between the two balls 33 is opened. When the ball 33 moves upward from the wedge-shaped surface, the ball 33 rolls from the wedge-shaped surface to the inner wall of the slide 25, thereby reducing the distance between the two balls 33. At this time, the two leaf picking handles 11 are opened, and the clamping handle 21 is also opened, thereby causing the clamping handle 21 to be separated from the clamping member.

[0029] In this embodiment, if Figure 1 、 Figure 2 As shown, the top of the guide rod 22 located on the same clamping handle 21 is connected by a connecting piece 23. The top of the guide rod 22 is fixed by the leaf picking handle 11, the middle of the guide rod 22 is restricted by the clamping handle 21, and the top of the guide rod 22 is restricted by the connecting piece 23, thereby ensuring the guiding accuracy of the guide rod 22. Moreover, the connecting piece 23 can also prevent the guide rod 22 from detaching from the clamping handle 21.

[0030] In this embodiment, if Figure 1 and Figure 3 As shown, a soft pad 32 is installed on the inner side of the clamping end of the clamping handle 21. The soft pad 32 allows soft contact between the clamping piece and the clamping handle 21, thereby preventing the clamping handle 21 from causing damage to the clamping piece. Moreover, due to the provision of a wedge-shaped surface, the two clamping handles 21 gradually move closer together, which can also prevent the clamping handles 21 from instantly closing together and causing damage to the clamping piece. Preferably, the soft pad 32 is made of silicone.

[0031] In this embodiment, if Figure 1 and Figure 3 As shown, the rotating ends of the two clamping handles 21 are meshed through a meshing gear pair 31, so that the angles of opening and closing of the two clamping handles 21 are consistent.

[0032] In this embodiment, if Figure 1and Figure 4 As shown, a boss is provided on the top of the leaf picking stalk 11, and both ends of the reset spring 29 are respectively mounted on the corresponding bosses. The bosses can be screwed to achieve a detachable connection with the leaf picking stalk 11 through the screws.

[0033] In this embodiment, if Figure 2 As shown, a first mounting groove is provided on the fixing seat 24, and the clamping handle 21 is rotatably mounted in the first mounting groove through a rotating shaft, and the meshing gear pair 31 is located in the first mounting groove. Preferably, a threaded section is provided at the end of the rotating shaft, and the threaded section is threadedly connected to the side wall corresponding to the first mounting groove. When disassembling, it is only necessary to take out the rotating shaft to realize the disassembly of the clamping handle 21.

[0034] In this embodiment, if Figure 4 As shown, a step is provided at the end of the rotating end of the leaf picking handle 11, and the ball 33 is rotatably mounted on the step through a rotating shaft. On the horizontal projection plane, part of the ball 33 is located on the outside of the step, thereby ensuring that the ball 33 can roll along the inner side of the slide 25. Of course, in this embodiment, when the two clamping handles 21 are in the clamping state, on the horizontal projection plane, at least half of the ball 33 is covered by the wedge-shaped surface. Therefore, when the nut 27 is in the upward process, it can ensure that the ball 33 enters between the two wedge-shaped surfaces, and under the guiding action of the wedge-shaped surfaces, the distance between the two balls 33 gradually decreases. Example

[0035] A leaf picking device is mainly used for picking broad leaves, such as mulberry leaves. The structure and picking process of the leaf picking device are explained below using mulberry leaves as an example.

[0036] like Figure 1 、 Figure 2 As shown, the leaf picking device includes a clamping mechanism. In this embodiment, the clamping mechanism is the same as the clamping mechanism in the first embodiment, so the specific structure of the clamping mechanism is not described in detail. Figure 1 and Figure 2 As shown, a number of needle rods 12 are installed on the leaf picking petiole 11 at intervals, and the needle rods 12 extend downward, and there is a gap between the two leaf picking petioles 11 for branches to pass through. Furthermore, the leaf picking petiole 11 is a semicircular structure, and the two leaf picking petioles 11 form a gap. The needle rods 12 are evenly spaced and distributed on the same circumference. Therefore, the several needle rods 12 on the leaf picking petiole 11 form comb teeth. When the leaves are plucked, the petiole of the mulberry leaf is stuck between the two needle rods 12. As the leaf picking petiole 11 moves along the branch, the petiole of the mulberry leaf is pulled off the branch, and the mulberry leaf is retained in the gap between the two comb teeth. As the leaves are continuously plucked, the mulberry leaves are continuously stacked.

[0037] In this embodiment, the leaf picking device also includes a walking mechanism (not shown in the figure), a multi-axis manipulator is provided on the walking mechanism, and the fixing seat 24 of the clamping mechanism is connected to the end of the multi-axis manipulator. The walking mechanism and the multi-axis manipulator are both existing technologies. Preferably, the walking mechanism is a crawler walking mechanism, which has good off-road maneuverability and can walk on uneven ground, cross obstacles, climb steps with a small gradient, climb slopes, cross ditches, etc., so it is suitable for walking in mulberry fields. The multi-axis manipulator preferably adopts a four-axis, five-axis or six-axis manipulator. When picking leaves, the walking mechanism moves to the specified position, and then drives the motor 26 to work, so that the nut 27 moves upward, and then the nut 27 leaves the petiole 11 in the upper stroke. At this time, the two ball bearings 3 3 is limited to the shortest distance by the slide 25. At this time, the two leaf-picking petioles 11 are in the open state, and the two clamping handles 21 are also in the open state. The manipulator drives the leaf-picking device to move so that the top of the branch is located between the two clamping handles 21, and the stem of the branch is located between the two leaf-picking petioles 11. Then the driving motor 26 drives the nut 27 downward. When the ball 33 enters the wedge-shaped surface area, the leaf-picking petiole 11 gradually closes together under the action of the reset spring 29. When the ball 33 leaves the wedge-shaped surface, the two leaf-picking petioles 11 close together. At this time, the two clamping handles 21 clamp the top of the branch, and the stem of the branch is located in the notch. Then the driving motor 26 drives the nut 27 downward again. During the downward process of the leaf-picking petiole 11, the petiole of the mulberry leaf is stuck in the needle rod 12 The mulberry leaves are then picked up by the two needle rods 12, and the leaves are not damaged because the tops of the mulberry leaf branches are clamped by the clamping handles 21 to prevent the branches from shaking, which facilitates the plucking of the mulberry leaves. When the mulberry leaves are picked up, the motor 26 drives the nut 27 upward, so that the ball 33 enters the wedge surface area and enters the inner side of the slide 25 along the wedge surface, so that the two leaf picking petioles 11 are opened, and the clamping handle 21 is opened, thereby loosening the branches. Since the mulberry leaves are stuck between the two adjacent steel needles, even after the leaf picking petioles 11 are opened, the mulberry leaves will not fall off. The robot then drives the leaf picking device to move, so that the leaf picking device is separated from the branch, and moves the leaf picking device to the mulberry leaf storage area, then takes out the mulberry leaves, and starts to pick the leaves of the next branch. During the leaf picking process, when the two balls 33 are located on the inner side of the slide 25, the clamping handle 21 and the leaf picking handle 11 are both in an open state. Therefore, when the robot moves the leaf picking device to the specified position, the driving motor 26 drives the nut 27 downward. During the movement of the balls 33 along the inner side of the slide 25, the clamping handle 21 will not clamp the upper part of the branch, and at this time, the leaf picking handle 11 will not pick the tender leaves on the upper part of the branch during the downward process, thereby protecting the tender leaves. After the balls 33 are separated from the slide 25, the clamping handle 21 can clamp the top of the branch again.The top of the branch is fixed, and then the mulberry leaves are picked from top to bottom, thus protecting the branch and preventing it from being broken.

[0038] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamping mechanism, characterized in that: Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

2. A clamping mechanism according to claim 1, characterized in that: The tops of the guide rods located on the same clamping handle are connected via a connecting piece.

3. The clamping mechanism according to claim 1, characterized in that: A soft pad is installed on the inner side of the clamping end of the clamping handle.

4. The clamping mechanism according to claim 1, wherein: The rotating ends of the two clamping handles are meshed through a meshing gear pair.

5. The clamping mechanism according to claim 1, characterized in that: A convex column is provided on the top of the leaf picking handle, and the two ends of the return spring are respectively installed on the corresponding convex columns.

6. The clamping mechanism according to claim 4, characterized in that: The fixing seat is provided with a first mounting groove, the clamping handle is rotatably mounted in the first mounting groove via a rotating shaft, and the meshing gear pair is located in the first mounting groove.

7. The clamping mechanism according to any one of claims 1 to 6, characterized in that: The nut is provided with a mounting portion, the mounting portion is provided with a second mounting groove, the leaf picking handle can be rotatably mounted in the second mounting groove via a rotating shaft, and the ball can be hidden in the second mounting groove.

8. The clamping mechanism according to claim 7, characterized in that: A step is provided at the end of the rotating end of the leaf picking handle, and the ball is rotatably mounted on the step through a rotating shaft.

9. A leaf picking device, characterized in that: It comprises the clamping mechanism according to any one of claims 1 to 8, wherein a plurality of needle rods arranged at intervals are installed on the leaf picking petiole, and the needle rods extend downward, and a gap for branches to pass through is provided between the two leaf picking petioles.

10. The leaf picking device according to claim 9, characterized in that: The leaf picking petiole is a semicircular structure, two leaf picking petioles form the gap, and the needle rods are distributed on the same circumference at equal intervals.

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