Self-propelled leaf cutting device

Abstract

The utility model relates to a self-propelled leaf cutting device, which belongs to the field of agricultural machinery and intelligent identification analysis and comprises a machine body, and a water jet cutting device, a residual leaf collecting device, an intelligent identification device and a self-propelled device are arranged on the machine body. The water jet cutting device comprises a water collecting tank, a high-pressure water pump, a mechanical arm and a water jet head. The high-pressure water pump is located in the machine body. The mechanical arm is connected with the water cutter head, and the water cutter head is connected with the water collecting tank through a water pipe; the residual leaf collecting device comprises a residual leaf collecting box and a fan which are installed on the machine body, the fan is arranged at the bottom of the machine body and used for collecting residual leaves cut by the water jet cutter head to the residual leaf collecting box, and the residual leaf collecting box is connected with the fan through a pipeline; the intelligent recognition device comprises an infrared camera arranged at the bottom of the machine body and an intelligent analysis module arranged in the machine body, and the intelligent analysis module comprises a control mainboard, a computing center and an analysis module. The tobacco seedling leaf cutting device can improve the accuracy of tobacco seedling leaf cutting, is matched with the water jet cutter and the fan to collect cut residual leaves, and improves efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of agricultural machinery and intelligent identification analysis, in particular to a self -walking type leaf cutting device. BACKGROUND

[0002] In recent years, the tobacco seedling industry gradually develops towards the direction of specialization, intensification and integration, which brings many advantages for tobacco planting. Among them, the leaf cutting and seedling training link plays a crucial role in cultivating strong seedlings. Through scientific and reasonable leaf cutting and seedling training operation, the growth trend of tobacco seedlings can be effectively controlled, and the stem and leaf of tobacco seedlings can be promoted to be thick and strong, and the resistance of tobacco seedlings can be enhanced, which lays a good foundation for subsequent transplanting and growth. Moreover, this method is convenient for unified management and picking of tobacco seedlings, and is conducive to realizing large-scale and standardized tobacco production.

[0003] However, in the current leaf cutting work, most of the leaf cutting work still depends on manual operation. In the process of manual leaf cutting, the operator needs to frequently contact the tobacco seedlings, which can easily lead to the spread of viral diseases among the tobacco seedlings. Once a tobacco seedling is infected with a virus, it is likely to infect other healthy tobacco seedlings through tools such as scissors during the leaf cutting operation, thereby causing serious impact on the whole seedling raising work. In addition, the efficiency of manual leaf cutting is very limited. The proficiency, working intensity and fatigue degree of the operator can affect the speed of leaf cutting, which is difficult to meet the requirements of large-scale seedling raising for the speed of leaf cutting.

[0004] Therefore, in the process of leaf cutting of tobacco seedling raising, it is necessary to effectively avoid the problem of virus spread caused by manual leaf cutting, greatly improve the leaf cutting efficiency, and reduce the labor cost. CONTENT OF THE UTILITY MODEL

[0005] In view of the influence of viral spread and efficiency caused by manual leaf cutting in the process of leaf cutting of tobacco seedling raising in the prior art, the utility model provides a self -walking type leaf cutting device which can automatically cut leaves:

[0006] In order to solve the above technical problems, the utility model adopts the following technical scheme: a self -walking type leaf cutting device, including machine body, be equipped with water jet cutting device, residual leaf collecting device, intelligent identification device and self -walking device on the machine body, the water jet cutting device includes water collecting tank, high pressure water pump, mechanical arm and water jet head, the high pressure water pump is located in the machine body inside, the mechanical arm is connected with water jet head, the water jet head and water collecting tank are connected through water pipe, the residual leaf collecting device includes residual leaf collecting tank and fan installed on the machine body, the fan is arranged at the bottom of the machine body and is used for collecting the residual leaf cut by the water jet head to the residual leaf collecting tank, the residual leaf collecting tank and the fan are connected through the pipeline, the intelligent identification device includes infrared camera arranged at the bottom of the machine body and intelligent analysis module arranged in the machine body.

[0007] Further, the mechanical arm comprises a base, the base is circumferentially rotationally connected with an adjusting seat, the adjusting seat is rotationally connected with a first rocker arm in pitching, a first adjusting shaft is arranged between the first rocker arm and the adjusting seat, one end of the first rocker arm away from the adjusting seat is rotationally connected with a second rocker arm through an adjusting motor, and the water cutter head is mounted on the other end of the second rocker arm away from the adjusting motor.

[0008] Further, the first rocker arm and the second rocker arm are connected with a first telescopic rod, and two ends of the first telescopic rod are rotationally connected with the first rocker arm and the second rocker arm respectively.

[0009] Further, the second rocker arm is provided with a second telescopic rod at the front end, and the water cutter head is mounted on the second telescopic rod.

[0010] Further, the water outlet is arranged at the bottom of the water collecting tank, one end of the water pipe is connected with the water outlet of the water collecting tank, and the other end of the water pipe is connected with the water cutter head.

[0011] Further, the fan comprises an air inlet volute, a conveying pipe is arranged between the air inlet volute and the residual leaf collecting tank, the air inlet of the air inlet volute faces the water cutter head, and the residual leaf enters the residual leaf collecting tank along the air inlet of the air inlet volute and the conveying pipe.

[0012] Further, the self-walking device comprises two axles arranged in parallel at the bottom of the machine body, and the motor is coaxially arranged at two ends of at least one axle.

[0013] Further, the shell of the motor and the bottom of the machine body are provided with a supporting rod.

[0014] Further, the supporting rod is a hydraulic spring supporting rod.

[0015] In summary, the utility model has the following beneficial effects:

[0016] (1) The self-walking type leaf cutting device integrates the water cutter cutting device, the residual leaf collecting device, the intelligent identification device and the self-walking device, the water cutter cutting device cuts by using the water cutter head, the damage to other parts of the plant is effectively avoided, the residual leaf collecting device can collect the residual leaf after cutting in time, the intelligent identification device can accurately identify the area needing to cut leaves and the leaf blade condition through the infrared camera and the intelligent analysis module, the accurate cutting of leaves is realized, the self-walking device gives the device the self-moving ability, and the high-pressure water flow sprayed by the water cutter itself has the cleaning and disinfecting effect when cutting leaves.

[0017] (2) The mechanical arm is freely rotatable, the adjusting seat can be tilted and rotated, and the first rocker arm and the second rocker arm are connected through an adjusting motor to realize rotation. The multi-joint and multi-angle design enables the water cutter head to flexibly adjust the position and angle. It can adapt to different plant heights, shapes and leaf distribution conditions, more accurately cut the leaves, and improve the flexibility and accuracy of leaf cutting.

[0018] (3) The air inlet of the air inlet volute of the fan faces the water cutter head, and is connected with the residual leaf collecting box through a conveying pipe. When the fan works, a negative pressure is formed near the air inlet, which can quickly suck the residual leaves cut by the water cutter head into the conveying pipe and then to the residual leaf collecting box. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the self-propelled leaf cutting device.

[0020] Figure 2 It is a structural schematic diagram of the mechanical arm.

[0021] Figure 3 It is a top view schematic diagram of the self-propelled leaf cutting device.

[0022] Figure 4 It is a bottom view schematic diagram of the self-propelled leaf cutting device.

[0023] Among them, the sign explanation is as follows: 1, water collecting tank, 101, water outlet; 2, residual leaf collecting box, 3, water pipe, 4, machine body; 5, mechanical arm, 501, base; 502, adjusting seat; 503, first rocker arm; 504, first adjusting shaft; 505, second rocker arm; 506, first telescopic rod; 507, second telescopic rod; 6, water cutter head, 7, infrared camera, 8, fan, 801, conveying pipe; 10, motor; 11, wheel; 12, support rod. DETAILED DESCRIPTION

[0024] The utility model will be further described in detail in combination with examples.

[0025] Example 1:

[0026] Leaf cutting in tobacco seedling raising is an important technical measure in the process of tobacco seedling raising. The present embodiment provides a self-propelled leaf cutting device, which is Figures 1 to 4As shown, including the body 4, which is provided with water jet cutting device, residual leaf collection device, intelligent identification device and self walking device; the water jet cutting device includes water collecting tank 1, high pressure water pump, mechanical arm 5 and water jet head 6, the high pressure water pump is located inside the body 4; the mechanical arm 5 is connected with the water jet head 6, the water jet head 6 and the water collecting tank 1 are connected through the water pipe 3; the residual leaf collection device includes residual leaf collection tank 2 installed on the body 4 and fan 8, the fan 8 is arranged at the bottom of the body 4 for collecting the residual leaf cut by the water jet head 6 to the residual leaf collection tank 2, the residual leaf collection tank 2 and the fan 8 are connected through the pipeline; the intelligent identification device includes infrared camera 7 arranged at the bottom of the body 4 and intelligent analysis module arranged in the body 4.

[0027] The self walking type leaf cutting device integrates the water jet cutting device, the residual leaf collection device, the intelligent identification device and the self walking device. The integrated design makes the leaf cutting operation more efficient and convenient, and improves the work efficiency.

[0028] Among them, the intelligent analysis module includes control mainboard, calculation center, analysis module, the intelligent identification device can accurately identify the area and leaf blade condition which need to be cut through the infrared camera 7 and the intelligent analysis module, and the intelligent analysis module can analyze the size and position of the leaf blade which need to be cut; the working mode of the infrared camera 7 includes real-time photographing and analyzing the tobacco leaf condition, realizing accurate cutting of the leaf, and the waste leaf cut by the fan 8, improving the intelligent level of the operation; the self walking device gives the device the ability of autonomous movement, saves manpower, and can move in the field according to the set route or mode, improving the coverage range and efficiency of the operation.

[0029] The water collecting tank 1, the water pipe 3 and the water jet head 6 can be connected in one, the water collecting tank 1 provides water source for the water jet, the water jet cutting device cuts by the water jet head 6, and the residual leaf collection device can collect the cut residual leaf in time. In the process of high pressure water impacting the leaf blade, harmful substances such as bacteria and insect eggs which may exist on the surface of the leaf blade can be washed away from the surface of the leaf blade, effectively destroying their living environment. Moreover, in some designs, a proper amount of harmless disinfectant can be added to the water source of the water jet, which can be more evenly covered on the surface of the leaf blade under the driving of the high pressure water flow, further enhancing the disinfection effect. Compared with the traditional manual disinfection mode, this disinfection mode synchronized with the leaf cutting process is not only more efficient, but also avoids the problems of omission and unevenness which may exist in manual disinfection.

[0030] Example 2:

[0031] As Figure 2As shown, a self-propelled leaf-cutting device based on Embodiment 1 includes a body 4, on which a water jet cutting device, a leaf residue collection device, an intelligent recognition device, and a self-propelled device are provided. In implementation, the robotic arm 5 includes a base 501, which is rotatably connected to an adjusting seat 502. The adjusting seat 502 is rotatably connected to a first rocker arm 503. A first adjusting shaft 504 is provided between the first rocker arm 503 and the adjusting seat 502. The end of the first rocker arm 503 away from the adjusting seat 502 is rotatably connected to a second rocker arm 505 via a second adjusting shaft. The water jet head 6 is installed at the end of the second rocker arm 505 away from the second adjusting shaft. A first telescopic rod 506 connects the first rocker arm 503 and the second rocker arm 505, with both ends of the first telescopic rod 506 rotatably connected to the first rocker arm 503 and the second rocker arm 505, respectively.

[0032] By changing the angle between the rocker arms, the range of motion of the robotic arm 5 can be effectively extended. When the telescopic rod extends, it exerts an outward thrust on the first rocker arm 503 and the second rocker arm 505. Since the telescopic rod is connected between the two rocker arms, this thrust increases the angle between them. Conversely, when the telescopic rod retracts, it pulls the two rocker arms, decreasing the angle between them.

[0033] In practice, the base 501 of the robotic arm 5 can rotate circumferentially, the first rocker arm 503 can rotate in pitch, and the front end of the second rocker arm 505 is provided with a second telescopic rod 507, on which the water jet head 6 is mounted. This allows the water jet head 6 to flexibly adjust its position and angle, adapting to different plant heights, shapes, and leaf distributions, enabling more precise leaf cutting and improving the flexibility and accuracy of leaf trimming.

[0034] like Figure 1 As shown, the bottom of the water collection tank 1 is provided with a water outlet 101. One end of the water pipe 33 is connected to the water outlet 101 of the water collection tank 1, and the other end is connected to the water cutter head 6. The water outlet 101 at the bottom of the water collection tank 11 is connected to the water cutter head 6 through the water pipe 3, so as to provide a stable water supply to the water cutter head 6.

[0035] In implementation, the fan 8 includes an air inlet volute, and a conveying pipe 801 connects the air inlet volute to the leaf debris collection box 2. The air inlet of the air inlet volute faces the water cutter head 6, and the leaf debris enters the leaf debris collection box 2 along the air inlet of the air inlet volute and the conveying pipe 801. When the fan 8 is working, a negative pressure is formed near the air inlet, which can quickly suck in the leaf debris cut by the water cutter head 6 and convey it to the leaf debris collection box 2 through the conveying pipe 801, reducing the possibility of leaf debris leakage and maintaining cleanliness.

[0036] The self-propelled device includes two axles parallel to each other at the bottom of the body 4. Motors 10 are coaxially mounted at both ends of each axle, and the outputs of the motors 10 are connected to wheels 11. Preferably, each wheel 11 is driven by an independent motor 10, enabling more flexible steering and speed control to adapt to different terrains and work routes.

[0037] A support rod 12 is provided between the housing of the motor 10 and the bottom of the body 4. This support rod 12 reduces the swaying and vibration of the body 4 during the device's movement and operation, and improves the passability of the self-propelled shearing device. The support rod 12 is a hydraulic spring support rod 12, which has good buffering and shock absorption performance. When the device traverses uneven ground or encounters obstacles, the hydraulic spring support rod 12 can absorb and buffer the impact force, further protecting the motor 10 and the entire self-propelled device, reducing damage to the device's structure and components caused by vibration, and ensuring stable operation of the device.

[0038] The motor converts electrical energy into mechanical energy, providing the necessary torque and speed to the wheels, thereby propelling the device forward, backward, or in a directional manner. The motion status of the wheels is fed back to the motor control, forming a closed-loop regulation. Sensors are installed on the device body or wheel sides, etc. These sensors in the self-propelled device can perceive the surrounding environment and internal state in real time, converting this information into electrical signals and transmitting them to the control system. Functions include monitoring speed and position to ensure precise control; monitoring current, voltage, temperature, etc., to protect the motor and optimize control; detecting obstacles and road conditions to support obstacle avoidance and path planning, etc.

[0039] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-propelled leaf-cutting device, characterized in that, The device includes a body (4), which is equipped with a water jet cutting device, a leaf collection device, an intelligent identification device, and a self-propelled device. The water jet cutting device includes a water collection tank (1), a high-pressure water pump, a robotic arm (5), and a water jet head (6). The high-pressure water pump is located inside the body (4). The robotic arm (5) is connected to the water jet head (6), and the water jet head (6) is connected to the water collection tank (1) via a water pipe (3). The leaf collection device includes a leaf collection box (2) installed on the body (4) and a fan (8). The fan (8) is located at the bottom of the body (4) and is used to collect the leaves cut by the water jet head (6) to the leaf collection box (2). The leaf collection box (2) is connected to the fan (8) via a pipe. The intelligent identification device includes an infrared camera (7) located at the bottom of the body (4) and an intelligent analysis module located inside the body (4).

2. The self-propelled leaf-cutting device according to claim 1, characterized in that, The robotic arm (5) includes a base (501), which is circumferentially rotatably connected to an adjustment seat (502). The adjustment seat (502) is pitch-rotatably connected to a first rocker arm (503). A first adjustment shaft (504) is provided between the first rocker arm (503) and the adjustment seat (502). The end of the first rocker arm (503) away from the adjustment seat (502) is rotatably connected to a second rocker arm (505) through a second adjustment shaft. The water jet head (6) is installed at the end of the second rocker arm (505) away from the second adjustment shaft.

3. The self-propelled leaf-cutting device according to claim 2, characterized in that, A first telescopic rod (506) is connected between the first rocker arm (503) and the second rocker arm (505), and the two ends of the first telescopic rod (506) are respectively rotatably connected to the first rocker arm (503) and the second rocker arm (505).

4. The self-propelled leaf-cutting device according to claim 3, characterized in that, The second rocker arm (505) has a second telescopic rod (507) at its front end, and the water jet head (6) is mounted on the second telescopic rod (507).

5. The self-propelled leaf-cutting device according to claim 1, characterized in that, The bottom of the water collection tank (1) is provided with a water outlet (101). One end of the water pipe (3) is connected to the water outlet (101) of the water collection tank (1), and the other end is connected to the water cutter head (6).

6. The self-propelled leaf-cutting device according to claim 1, characterized in that, The fan (8) includes an air intake volute, and a conveying pipe (801) is connected between the air intake volute and the leaf collection box (2). The air inlet of the air intake volute faces the water cutter head (6), and the leaf debris enters the leaf collection box (2) along the air inlet of the air intake volute and the conveying pipe (801).

7. The self-propelled leaf-cutting device according to claim 1, characterized in that, The self-propelled device includes two axles parallel to the bottom of the body (4), and at least one axle has a motor (10) coaxially mounted at both ends. The output end of the motor (10) is connected to a wheel (11).

8. The self-propelled leaf-cutting device according to claim 7, characterized in that, A support rod (12) is provided between the outer casing of the motor (10) and the bottom of the body (4).

9. The self-propelled leaf-cutting device according to claim 8, characterized in that, The support rod (12) is a hydraulic spring support rod (12).

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