Leaf picking device

Abstract

A lead screw pair is installed on a fixed seat, a lead screw of the lead screw pair vertically extends downwards, leaf picking handles are installed on a nut of the lead screw pair in pairs, a reset spring is arranged between the two leaf picking handles, slide carriages are installed on the two outer side walls of the fixed seat, wedge-shaped faces extending outwards are arranged on the inner sides of the bottoms of the slide carriages, and the wedge-shaped faces are arranged on the inner sides of the bottoms of the slide carriages. A rotatable ball is arranged at the end, close to the slide carriage, of the leaf picking handle, clamping handles are installed on the fixing base in pairs, a plurality of needle rods which are arranged at intervals are installed on the leaf picking handle and extend downwards, and a leaf removing mechanism is further arranged below the leaf picking handle. A nut is driven by a driving motor to move, a wedge-shaped face is arranged on the inner side of a slide carriage, leaf picking handles can be folded and unfolded in the process that balls move on the inner side of the slide carriage, tender leaves at the top ends of branches can be protected in the leaf stripping process, leaf stripping of mulberry leaves can be achieved, leaf stripping of the next branch can be directly conducted after leaf stripping, and the leaf stripping efficiency is improved. Therefore, the mulberry leaf picking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a mulberry leaf picking technology, in particular to 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: Chinese invention patent: A mulberry leaf picking device (publication number: CN116210455A), which uses a harvesting component to pick mulberry leaves, but when harvesting, the harvesting component moves from bottom to top to cut the petioles of the mulberry leaves, and its branches are not restricted, which makes it easy to break the mulberry branches when harvesting the mulberry leaves; another example: Chinese invention patent: A negative pressure automatic mulberry leaf picking machine (publication number: CN114793624A), which uses a ...). The mulberry leaf picking device connected to the screw can achieve free movement in both horizontal and vertical directions, and the scraper combined with the comb brush teeth can pick the plane within the entire stroke; the mulberry leaves that are detached during the picking process 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, but the comb brush teeth have no restrictions on the branches during the picking process, and the mulberry branches are also easily broken during the picking process, and the tender leaves on the top of the branches are not protected during the picking process. Moreover, the existing mulberry leaf picking equipment is difficult to remove the mulberry leaves after picking, and manual cleaning is required, which affects the picking efficiency of the mulberry leaves. Utility Model Content

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

[0005] The object of the utility model is achieved through the following technical solutions: a leaf picking device, including a fixed seat, a screw pair is installed on the fixed seat, the screw of the screw pair extends vertically downward, and a leaf picking stalk is installed in pairs on the nut of the screw pair, and the two leaf picking stalks are rotatably installed on the nut, a first notch is opened on the inner side of the two leaf picking stalks, a return spring is provided between the two leaf picking stalks, a slide is installed on the two outer side walls of the fixed seat, on the positive projection surface, the bottom of the screw is located below the slide, and the inner side of the bottom of the slide is provided with a wedge-shaped surface that stretches outward, a rotatable ball is provided on the end of the leaf picking stalk near the slide, and the ball can slide along the inner side of the corresponding slide, a number of needle rods arranged at intervals are installed on the leaf picking stalk, and the needle rods extend downward, a leaf stripping mechanism is also provided below the leaf picking stalk, the needle rod passes through the corresponding leaf stripping mechanism, a clamping mechanism is also installed on the fixed seat, and the clamping mechanism is located above the leaf picking stalk.

[0006] Optionally, the leaf removal mechanism includes a limiting portion and a leaf removal petiole. The leaf removal petioles are installed in pairs on the limiting portion, and the two leaf removal petioles can rotate relative to the installation portion. A second notch is opened on the inner side of the leaf removal petiole. A number of columns are installed on the top of the leaf picking petiole. The top of the column is connected to one end of the tension spring, and the other end of the tension spring is connected to the corresponding leaf removal petiole. The needle rod passes through the leaf removal petiole. The limiting portion is located below the slide, and when the two leaf picking petioles are in an open state, the top of the limiting portion abuts against the bottom of the slide under the action of the tension spring. At least two guide rods are installed on the leaf picking petiole at intervals. The guide rods extend upward and pass through the corresponding leaf picking petioles and the clamping mechanism in sequence.

[0007] Optionally, the leaf stripping petiole is a semicircular structure, the arc-shaped inner wall of the leaf stripping petiole is a second notch, and an annular blade extending axially downward is provided on the inner wall of the second notch. When the top of the leaf stripping petiole abuts the top of the leaf picking petiole, on the forward projection surface, the bottom of the annular blade is located above the needle rod.

[0008] Optionally, the clamping mechanism includes a clamping handle, which is mounted in pairs on the fixed seat and rotatably mounted on the fixed seat, and the guide rod passes through the corresponding clamping handle.

[0009] Optionally, the tops of the guide rods on the same clamping handle are connected via a connecting piece.

[0010] Optionally, a soft pad is installed on the inner side of the clamping end of the clamping handle.

[0011] Optionally, the rotating ends of the two clamping handles are meshed through a meshing gear pair.

[0012] 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.

[0013] Optionally, the petiole is a semicircular structure, and the needle bars are distributed at equal intervals on the same circumference.

[0014] A sinking step is provided on the outer side of the top of the petiole, the needle rod is distributed on the sinking step, and the top of the needle rod passes through the sinking step.

[0015] The utility model has the following advantages:

[0016] 1. The mulberry leaf picking machine of the present invention drives the nut to move by a driving motor, and a wedge-shaped surface is provided on the inner side of the slide. When the ball moves on the inner side of the slide, the leaf petioles can be closed and opened;

[0017] 2. In the leaf-picking preparation state, the clamping handle will not clamp the top of the branch, and in the leaf-picking process, the clamping handle can clamp the top of the branch, and when the ball rolls down along the inner side of the slide, the leaf-picking handle is in an open state, and the leaf-picking handle will not pick the tender leaves at the top of the branch, thereby protecting the tender leaves. When the ball leaves leave the slide, the clamping handle can clamp the top of the branch again, so that the top of the branch is fixed, and then the mulberry leaves are picked from top to bottom, thereby protecting the branch and preventing it from being broken.

[0018] 3. The mulberry leaf picking machine of the present invention is provided with a defoliation mechanism, which is convenient for defoliating mulberry leaves. After the defoliation is completed, the picking machine can enter the leaf-pulling equipment state, and then can directly pull leaves from the next branch, thereby improving the efficiency of mulberry leaf picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the present invention without a walking mechanism and a multi-axis manipulator Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of the present invention without a walking mechanism and a multi-axis manipulator Figure 2 ;

[0021] Figure 3 for Figure 2 Schematic diagram of the structure of AA;

[0022] Figure 4 for Figure 2 Schematic diagram of the structure of the middle BB;

[0023] Figure 5 for Figure 2 Schematic diagram of the structure of CC;

[0024] Figure 6 for Figure 2 Schematic diagram of the structure of DD;

[0025] Figure 7 Schematic diagram of the structure of the defoliation mechanism;

[0026] Figure 8 This is a schematic structural diagram of the present invention in its initial static state;

[0027] Figure 9 This is a structural diagram of the present invention in a leaf-pulling preparation state;

[0028] Figure 10 This is a structural diagram of the present invention in the leaf-pulling operation state;

[0029] Figure 11 This is a schematic structural diagram of the present invention in a state of being separated from branches;

[0030] Figure 12 This is a structural diagram of a mulberry leaf picking machine;

[0031] In the figure, 11-petiole picking, 12-needle rod, 13-petiole removing, 14-annular blade, 15-column, 16-tension spring, 17-limiting part, 21-clamping handle, 22-guide rod, 23-connecting piece, 24-fixed seat, 25-slide, 26-driving motor, 27-nut, 28-screw, 29-reset spring, 31-meshing gear pair, 32-cushion, 33-ball, 100-travel mechanism, 200-multi-axis manipulator. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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 need to be further defined or explained in subsequent drawings.

[0036] 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.

[0037] 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.

[0038] like Figure 1 and Figure 2 As shown, a leaf picking device includes a fixed seat 24. In this embodiment, the fixed seat 24 is connected to the end of the multi-axis manipulator 20, and the multi-axis manipulator 200 is installed on the walking mechanism 100. The walking mechanism 100 and the multi-axis manipulator 200 are both existing technologies. Preferably, the walking mechanism 100 is a crawler walking mechanism 100, 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 200 preferably adopts a four-axis, five-axis or six-axis manipulator, and a screw pair is installed on the fixed seat 24. The screw 28 of the screw pair extends vertically downward, and 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. Preferably, as shown in FIG. Figure 1 and Figure 2 As shown, a mounting portion is provided on the nut 27, on which leaf picking stalks 11 are mounted in pairs, and the two leaf picking stalks 11 can rotate relative to the mounting portion. Further, as shown Figure 2As shown, a second mounting groove is provided on the mounting portion, and the leaf picking petiole 11 is rotatably mounted in the second mounting groove through a rotating shaft. A first notch is provided on the inner side of the leaf picking petiole 11. When the two leaf picking petioles 11 are brought close together, the two first notches form a through-hole for the branches to pass through. Furthermore, a reset spring 29 is provided between the two leaf picking petioles 11. The two leaf picking petioles 11 are in a close state under the action of the reset spring 29. In this embodiment, slide plates 25 are installed on the two outer side walls of the fixing seat 24. On the forward projection surface, as shown Figure 6 As shown, the bottom of the screw 28 is located below the slide 25, and the inner side of the bottom of the slide 25 is provided with a wedge-shaped surface that stretches outward. The end of the leaf picking handle 11 close to the slide 25 is provided with a rotatable ball 33, and the ball 33 can slide along the inner side of the corresponding slide 25. When the ball 33 enters the wedge-shaped surface area, the leaf picking handle 11 gradually closes together under the action of the return spring 29. When the ball 33 breaks away from the wedge surface, the two leaf picking handles 11 are closed together. When in use, the drive motor 26 of the screw pair works to make the leaf picking handle 11 move upward. During the upward movement of the leaf picking handle 11, the ball 33 enters the wedge-shaped surface area, and the wedge-shaped surface squeezes the ball 33. The two leaf picking handles 11 gradually open. When the ball 33 moves up and breaks away After leaving the wedge-shaped surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking handles 11. In this embodiment, the fixing seat 24 is equipped with a pair of clamping handles 21, and the two clamping handles 21 are rotatably installed on the fixing seat 24. At least two vertical guide rods 22 are passed through the leaf picking handle 11. The guide rods 22 extend upward and pass through the corresponding clamping handles 21. Therefore, the leaf picking handle 11 and the clamping handle 21 are opened and closed synchronously, that is, when the leaf picking handle 11 is opened, the clamping handle 21 is also opened. When the leaf picking handle 11 is closed, the clamping handle 21 is also closed. A plurality of needle rods 12 are installed on the leaf picking handle 11 at intervals, and the needle rods 12 extend downward. A leaf removal mechanism is also provided below the leaf picking handle 11, such as Figure 7As shown, the defoliation mechanism includes a limiting portion 17 and a defoliation petiole 13. The defoliation petioles 13 are installed in pairs on the limiting portion 17, and the two defoliation petioles 13 can rotate relative to the installation portion. A second notch is provided on the inner side of the defoliation petiole 13, and the two second notches also form a through-hole for the branches to pass through. A plurality of columns 15 are installed on the upper surface of the leaf picking petiole 11, and the upper end of the column 15 is connected to one end of the tension spring 16, and the other end of the tension spring 16 is connected to the corresponding defoliation petiole 13. A plurality of needle rods 12 are installed on the leaf picking petiole 11, and the needle rod 12 extends axially downward and passes through the defoliation petiole 13, so that the defoliation petiole 13 can only move along the extension direction of the needle rod 12. The tension spring 16 is in a stretched state. When not affected by other external forces, the defoliation petiole 13 is always in contact with the picking petiole under the action of the tension spring 16. The petiole 11 is in contact, and the limiting part 17 is located below the slide 25. When the two leaf picking petioles 11 are in the open state, the upper surface of the limiting part 17 is in contact with the bottom of the slide 25 under the action of the tension spring 16. When in use, the multi-axis manipulator 200 moves the fixed seat 24 to the specified position, and the drive motor 26 of the screw pair works to make the leaf picking petiole 11 move upward. During the upward movement of the leaf picking petiole 11, the ball 33 enters the wedge surface area, and the wedge surface squeezes the ball 33, and the two leaf picking petioles 11 gradually open. When the ball 33 moves upward and leaves the wedge surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking petioles 11. At this time, the clamping handle 21 also opens as the leaf picking petiole 11 opens, and during the upward movement of the leaf picking petiole 11 In the process, the tension spring 16 is gradually stretched, and when the ball 33 enters the wedge-shaped surface area, the limit portion 17 contacts the bottom of the slide 25, and the leaf stripping petiole 13 cannot move upward, and the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 is widened. When the leaf picking petiole 11 moves to the upper stroke, the bottom of the needle rod 12 is located in the leaf stripping petiole 13, and then the multi-axis manipulator 200 moves, and the upper part of the branch is located between the two clamping handles 21, and then the drive motor 26 rotates in the opposite direction, and the leaf picking petiole 11 moves downward first. At this time, since the ball 33 is still between the inner side walls of the two slides 25, the leaf picking petiole 11 is still in an open state, so that the tender leaves on the upper part of the branch will not be picked, and the tender leaves of the mulberry leaves will be protected. During the downward process, when the ball After 33 enters the wedge-shaped surface area, the two leaf-picking petioles 11 gradually move closer. When the ball 33 leaves the wedge-shaped surface area, the two leaf-picking petioles 11 move closer under the action of the reset spring 29, and the leaf-removing petiole 13 abuts against the leaf-picking petiole 11. At this time, the clamping handle 21 clamps the upper part of the branch. As the leaf-removing petiole 13 and the leaf-picking petiole 11 move from top to bottom along the branch, the petiole and the leaf are stuck between two adjacent needle rods 12 during the movement, and several needle rods 12 constitute comb teeth. In the process of moving downward, the mulberry leaf petiole is pulled off the branch, and the picked mulberry leaves are stacked between the comb teeth, which is not easy to cause damage to the mulberry leaves. Furthermore, the leaf-picking petiole 11 is a semicircular structure, and the arc-shaped inner wall of the leaf-picking petiole 11 is the first notch.The needle rods 12 are distributed at equal intervals on the same circumference, so that the needle rods 12 are evenly distributed. When the nut 27 moves to the lower stroke of the screw 28, the leaf picking is completed, and then the multi-axis manipulator 200 moves the defoliation mechanism to the mulberry leaf collection area, and then the driving motor 26 drives the nut 27 upward along the screw 28. When the ball 33 enters the wedge surface area, the leaf stripping petiole 13 abuts against the slide 25. As the leaf picking petiole 11 moves upward, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 gradually increases, and then the driving motor 26 stops working. At this time, the ball 33 is still in the wedge surface area, that is, the two leaf picking petioles 11 are in a semi-open state, and the clamping handle 21 is also in a semi-open state. Although in this process, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 will increase to a certain extent, that is, the leaf stripping petiole 13 will move down a little distance relative to the needle rod 12, so the leaf picking petiole 11 is moved from the clamping state. In the process of moving from the state to the semi-open state, the mulberry leaves between the needle rods 12 will not fall, and then the multi-axis manipulator 200 moves again, so that the branches are separated from the clamping handle 21, and the mulberry leaves are moved to the mulberry leaf collection area, and then the driving motor 26 works again, the leaf picking handle 11 moves upward, and the ball 33 enters between the inner side walls between the two slides 25. In the process of the leaf picking handle 11 moving upward, the leaf stripping handle 13 is supported by the slide 25, and the leaf stripping handle 13 moves downward relative to the needle rod 12. At this time, the mulberry leaves stuck between the needle rods 12 are separated from the needle rods 12 under the action of the leaf stripping handle 13 and fall into the mulberry leaf collection area, completing the defoliation of the mulberry leaves. Moreover, when the leaf picking handle 11 is in the semi-open state, the mulberry leaves are stuck between the adjacent needle rods 12, and the mulberry leaves will be squeezed and arched. Therefore, the mulberry leaves have a certain elastic restoring force, and the mulberry leaves themselves are relatively light in weight. Therefore, the mulberry leaves will not fall during the movement of the multi-axis manipulator 200.

[0039] In this embodiment, since the mulberry leaves all grow sideways, the leaf-picking petiole 11 can be pulled off the mulberry leaf petiole from the branch during the movement from top to bottom. However, a small number of mulberry leaf petioles cannot be pulled off from the branch. In order to improve the collection rate of mulberry leaves, in this embodiment, as shown in FIG. Figure 1 and Figure 4 As shown, the petiole 13 is a semicircular structure, and the arc-shaped inner wall of the petiole 13 is a second notch. An annular blade 14 extending axially downward is provided on the inner wall of the second notch. When the upper surface of the petiole 13 abuts against the bottom of the picking petiole 11, on the positive projection surface, the bottom of the annular blade 14 is located above the needle rod 12. The mulberry leaves that have not been torn off, at this time, the part of the petiole close to the leaf end of the mulberry leaf is stuck between the needle rods 12. When the annular blade 14 contacts the petiole, the annular blade 14 can cut off the petiole, and the mulberry leaves with the cut petiole are still stacked between the needle rods 12.

[0040] In this embodiment, if Figure 1 、 Figure 2As 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.

[0041] 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 branch and the clamping handle 21, thereby preventing the clamping handle 21 from causing damage to the branch. 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 branch. Preferably, the soft pad 32 is made of silicone.

[0042] 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.

[0043] 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.

[0044] In this embodiment, if Figure 1 and 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.

[0045] In this embodiment, Figure 2 As shown, a second mounting groove is provided on the mounting portion, and the leaf picking handle 11 can be rotatably mounted in the second mounting groove through a rotating shaft, and the ball 33 can be hidden in the second mounting groove. The two leaf picking handles 11 and the rotating shaft form a scissors-like structure. When the distance between the two balls 33 is reduced, the end of the leaf picking handle 11 away from the ball 33 is opened. Conversely, when the distance between the two balls 33 is increased, the end of the leaf picking handle 11 away from the ball 33 is closed.

[0046] In this embodiment, if Figure 2As shown, a third mounting groove is provided on the limiting portion 17, and the end of the leaf stripping petiole 13 is rotatably mounted in the third mounting groove through a rotating shaft. At least two guide rods 22 are installed on the leaf stripping petiole 13 at intervals. The guide rods 22 extend upward and pass through the corresponding leaf picking petioles 13 and the clamping handles 21 in sequence. When the leaf picking petiole 11 is opened, the leaf stripping petiole 13 is also opened, and when the leaf picking petioles 11 are closed, the leaf stripping petioles 13 are also closed.

[0047] In this embodiment, if Figure 1 As shown, two upright posts 15 are provided on the upper surface of the leaf-picking petiole 11, and the upright posts 15 are distributed at both ends of the leaf-picking petiole 11, so that the force on the leaf-removing petiole 13 is more uniform, which facilitates the restoration of the leaf-removing petiole 13 after removing the leaves.

[0048] In this embodiment, if Figure 1 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 leaf picking handles 11 are in a close state, on the horizontal projection plane, at least half of the ball 33 is covered by the wedge surface. Therefore, when the nut 27 is in the upward process, it can ensure that the ball 33 enters between the two wedge surfaces, and under the guiding action of the wedge surfaces, the distance between the two balls 33 gradually decreases.

[0049] In this embodiment, if Figure 1 and Figure 7 As shown, a sinking step is provided on the outer side of the top surface of the leaf picking stalk 11, and the needle rod 12 is distributed at the sinking step, and the top of the needle rod 12 passes through the sinking step, so that the top of the needle rod 12 is in a leaking state, thereby facilitating the pulling of the needle rod 12. Preferably, the needle rod 12 is made of a steel needle.

[0050] According to the mulberry leaf picking process, it is divided into the initial static state, the leaf-picking preparation state, the leaf-picking operation state, the branch-detached state and the petiole-detached 13 return to the leaf-picking preparation state. The following is a detailed description of the mulberry leaf picking process using the mulberry leaf picking machine based on the above states.

[0051] Initial static state: Figure 8 As shown, the nut 27 is at the bottom edge of the slide 25, and the return spring 29 and the tension spring 16 are both in the shortest state. At this time, there is no pressure contact between the ball 33 and the slide 25, and the clamping handle 21, the leaf picking handle 11 and the leaf removing handle 13 are all in a closed state.

[0052] Leaf preparation status: Figure 9As shown, the driving motor 26 works and the nut 27 moves upward, causing the leaf picking stem 11 to move upward. During the upward movement of the leaf picking stem 11, the ball 33 enters the wedge surface area, and the wedge surface squeezes the ball 33, and the two leaf picking stems 11 gradually open. When the ball 33 moves upward and leaves the wedge surface area, the ball 33 contacts the inner side of the slide 25, thereby opening the two leaf picking stems 11. At this time, the clamping handle 21 also opens as the leaf picking stem 11 opens. During the upward movement of the leaf picking stem 11, the tension spring 16 is gradually stretched. When the ball 33 enters the wedge surface area, the limit part 17 abuts against the bottom of the slide 25, and the leaf stripping stem 13 cannot move upward. The distance between the leaf stripping stem 13 and the leaf picking stem 11 is widened. When the leaf picking stem 11 moves to the upper stroke, the bottom of the needle rod 12 is located in the leaf stripping stem 13, and the leaf picking preparation state is entered.

[0053] Leaf plucking operation status: Figure 10 As shown, the driving motor 26 works in the reverse direction and the nut 27 moves downward. During the downward process, when the ball 33 enters the wedge-shaped surface area, the two leaf-picking petioles 11 gradually move closer. When the ball 33 leaves the wedge-shaped surface area, the two leaf-picking petioles 11 move closer under the action of the reset spring 29, and the leaf-picking petiole 13 abuts against the leaf-picking petiole 11. At this time, the clamping handle 21 clamps the upper part of the branch. As the leaf-picking petiole 13 and the leaf-picking petiole 11 move from top to bottom along the branch, the mulberry leaf petiole is stuck in the adjacent Between the two needle rods 12, several needle rods 12 form comb teeth. In the process of moving downward, the leaf petioles are pulled off from the branches, and the picked mulberry leaves are stacked between the comb teeth, which makes it difficult to cause damage to the mulberry leaves. The mulberry leaves that are not pulled off have their petioles cut off by the annular blade 14, and the mulberry leaves with cut petioles are still stacked between the needle rods 12. When the nut 27 moves to the lower stroke, all the mulberry leaves that can be picked on the branches are picked, thereby completing the mulberry leaf plucking operation.

[0054] Out of the branch state: Figure 11 As shown, the drive motor 26 works, causing the nut 27 to move upward. When the ball 33 enters the wedge surface area, the leaf stripping petiole 13 abuts against the slide 25. As the leaf picking petiole 11 moves upward, the distance between the leaf stripping petiole 13 and the leaf picking petiole 11 gradually increases, and then the drive motor 26 stops working. At this time, the ball 33 is still in the wedge surface area, that is, there is contact pressure between the wedge surface and the ball 33, and the two leaf picking petioles 11 are in a semi-open state, and the clamping handle 21 is also in a semi-open state. Then the multi-axis manipulator 200 moves again, so that the clamping handle 21 and the entire picking mechanism are separated from the branch.

[0055] The leaf-removing petiole 13 returns to the leaf-lifting preparation state: the manipulator moves the picked mulberry leaves to the mulberry leaf collection area, and then drives the motor 26 to work again, the leaf-removing petiole 11 moves upward, and the ball 33 enters between the inner walls between the two slides 25. During the upward movement of the leaf-removing petiole 11, the leaf-removing petiole 13 is held by the slide 25, and the leaf-removing petiole 13 moves downward relative to the needle rod 12. At this time, the mulberry leaves stuck between the needle rods 12 are separated from the needle rods 12 under the action of the leaf-removing petiole 13 and fall into the mulberry leaf collection area. When the nut 27 moves to the upper stroke, the mulberry leaf defoliation is completed. At this time, Figure 9 As shown, the entire device enters the leaf-plucking equipment state, and then the leaves of the next mulberry branch can be plucking.

[0056] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to 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 leaf picking device, 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 leaf picking device according to claim 1, characterized in that: The defoliation mechanism includes a limiting part and a defoliation petiole. The limiting part is provided with defoliation petioles in pairs, and the two defoliation petioles can rotate relative to the installation part. A second notch is provided on the inner side of the defoliation petiole. A plurality of columns are installed on the top of the leaf picking petiole. The top of the column is connected to one end of a tension spring, and the other end of the tension spring is connected to the corresponding defoliation petiole. The needle rod passes through the defoliation petiole. The limiting part is located below the slide, and when the two leaf picking petioles are in an open state, the top of the limiting part abuts against the bottom of the slide under the action of the tension spring. At least two guide rods are installed on the defoliation petiole, and the guide rods extend upward and pass through the corresponding leaf picking petioles and the clamping mechanism in sequence.

3. A leaf picking device according to claim 2, characterized in that: The leaf stripping petiole is a semicircular structure, and the arc-shaped inner wall of the leaf stripping petiole is the second notch. An annular blade extending axially downward is provided on the inner wall of the second notch. When the top of the leaf stripping petiole abuts the top of the leaf picking petiole, on the forward projection surface, the bottom of the annular blade is located above the needle rod.

4. A leaf picking device according to claim 2 or 3, characterized in that: The clamping mechanism includes a clamping handle, which is mounted in pairs on the fixing seat. The two clamping handles are rotatably mounted on the fixing seat, and the guide rod passes through the corresponding clamping handle.

5. A leaf picking device according to claim 4, characterized in that: The tops of the guide rods located on the same clamping handle are connected via a connecting piece.

6. The leaf picking device according to claim 4, characterized in that: A soft pad is installed on the inner side of the clamping end of the clamping handle.

7. The leaf picking device according to claim 4, characterized in that: The rotating ends of the two clamping handles are meshed through a meshing gear pair.

8. The leaf picking device according to claim 7, 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.

9. The leaf picking device according to any one of claims 1 to 3, characterized in that: The leaf picking petiole is a semicircular structure, and the needle rods are distributed on the same circumference at equal intervals.

10. The leaf picking device according to claim 9, characterized in that: A subsidence step is provided on the outer side of the top of the leaf picking stalk, the needle rod is distributed on the subsidence step, and the top of the needle rod passes through the subsidence step.

Images