CN110337899A - The efficient lossless for tapping device for sisal hemp leaf taps head and its application method - Google Patents
The efficient lossless for tapping device for sisal hemp leaf taps head and its application method Download PDFInfo
- Publication number
- CN110337899A CN110337899A CN201910751063.3A CN201910751063A CN110337899A CN 110337899 A CN110337899 A CN 110337899A CN 201910751063 A CN201910751063 A CN 201910751063A CN 110337899 A CN110337899 A CN 110337899A
- Authority
- CN
- China
- Prior art keywords
- sisal hemp
- joint
- arc
- hemp leaf
- blade
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/06—Harvesting of standing crops of flax or similar fibrous plants
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Environmental Sciences (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a kind of efficient lossless for tapping device for sisal hemp leaf to tap head and its application method, it includes that joint folding motor (3) cyclic annular multi-joint for constituting by multiple simple joint arcs mechanism (20) and for opening and closing adjacent simple joint arc mechanism (20) is encircled device (2) that this, which taps head, and cyclic annular multi-joint, which encircles device (2), to surround sisal hemp to be tapped from the root of sisal hemp；Elastic cutter mechanism (4) and the upward soft blade mechanisms (5) vertically cut in any simple joint arc mechanism (20) all equipped with horizontal resection.Application method is first to cut (n-1)th layer of sisal hemp leaf below from bottom to top using soft blade mechanisms (5), then tap n-th layer sisal hemp leaf using elastic cutter mechanism (4) level.Efficient lossless of the invention taps head and can quickly tap the n-layer sisal hemp leaf of sisal hemp bottom maturation and will not injure the root of (n+1)th layer of sisal hemp leaf, and the sisal hemp leaf later suitable for the second knife fiber crops is tapped.
Description
Technical field
Mechanical components and its user are tapped the invention belongs to agricultural mechanical field more particularly to a kind of crops
Method, specifically a kind of efficient lossless for tapping device for sisal hemp leaf tap head and its application method.
Background technique
Sisal hemp is a kind of perennial tropical hard leaf fibre crop, is maximum, the widest in area one kind of world today's dosage
Hard fibre.Sisal fiber is strong but pliable in texture, and the characteristics such as wear-resisting, saline-alkali tolerant, corrosion-resistant are that synthetic fibers are irreplaceable, and sisal hemp is fine
Dimension have many advantages, such as it is free from environmental pollution, be not likely to produce electrostatic, be widely used in machinery manufacturing industry, transport, fishery, petroleum, smelting
The various industries such as gold have important economic value.
Current global sisal hemp is tapped manually completes entirely, even if being tapped using machinery is also semi-machine tool, needs
Man-hour manually hand-held is completed, and long working efficiency is also not so good as people's will, and for tapping operating environmental condition and its severe, it needs artificial
It kneels the posture lain prone with body to complete, and seriously and labour swashs showing for acute scarcity plus torrid areas labouring population aging trend
Shape forms enormous impact to sisal industry.The sisal hemp leaf mechanization tapping technology later for the second knife fiber crops and the second knife fiber crops
For be it is advantageous, the certain spatial margin in strain dry bottom portion can be used as into the edge of a knife.Based on this, it is break-through skill bottleneck, solves
Extensive sisal hemp leaf taps operation difficult point, and the intelligent sisal hemp leaf of research and development, which taps machinery, becomes too impatient to wait.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of height that device is tapped for sisal hemp leaf
It imitates and lossless taps head and its application method；The efficient lossless, which is tapped head and be can be realized, adopts the Intelligentized mechanical efficient lossless of sisal hemp
It cuts, that improves sisal hemp taps efficiency.
The purpose of the present invention is what is solved by the following technical programs:
A kind of efficient lossless that tapping device for sisal hemp leaf taps head, it is characterised in that: it includes by multiple lists that this, which taps head,
The cyclic annular multi-joint of joint arc mechanism and the joint folding motor composition for opening and closing adjacent simple joint arc mechanism encircles dress
It sets, cyclic annular multi-joint, which encircles device, to surround sisal hemp to be tapped from the root of sisal hemp；In any simple joint arc mechanism
Elastic cutter mechanism and soft blade mechanisms are all equipped with, soft blade mechanisms can be vertically moved up or down under with respect to simple joint arc mechanism
The lower part of the n-1 layer and n-th layer of sisal hemp leaf target number of plies n is cut upwards, and the blade on elastic cutter mechanism can be to n-th layer
The remainder of sisal hemp leaf cut and does not damage (n+1)th layer of sisal hemp leaf.
The lower end of the elasticity cutter mechanism is fixed in corresponding simple joint arc mechanism, and elastic cutter mechanism depends on
On the outer wall of soft blade mechanisms；When soft blade mechanisms are lowered back to place, the blade of elastic cutter mechanism can cross soft blade
Mechanism enters cutting position.
Any simple joint arc mechanism all includes joint body, gear motor and vertical telescopic hydraulic cylinder, the front side of joint body
Arch section is equipped with guide-track groove, and the arc-shaped rack and arc-shaped gear for being able to drive that elastic cutter mechanism moves back and forth are equipped in guide-track groove
Item is engaged with the gear being arranged in joint body to be connected, and gear is mounted on the drive shaft of gear motor and gear motor is fixed on joint
The Backside support upper of body, the Backside support beneath portions of joint body, which are fixed with, can go up and down vertically stretching for soft blade mechanisms
Contracting hydraulic cylinder.
The arc length of the arc-shaped rack is the half of guide-track groove arc length；And the both ends of the arc-shaped rack are respectively fixed with one
A elasticity cutter mechanism.
The elastic cutter mechanism includes that idler wheel, blade, adjustable spring, knife rest and welding spring, idler wheel are located at blade
Upper end for being embedded in the gap between n-th layer sisal hemp leaf and (n+1)th layer of sisal hemp leaf, in the lower end insertion knife rest of blade
And be located on the adjustable spring in knife rest, the bottom end positioned at the welding spring of knife rest tail end is welded on corresponding simple joint arc mechanism
On arc-shaped rack end.
The angle that the welding spring welds should make idler wheel swing to the soft blade mechanisms of inside and tilt to the right.
The driving end of the vertical telescopic hydraulic cylinder is equipped with soft blade support frame, and soft blade support frame is gone by connecting rod
It is fixedly connected with the soft blade support of soft blade mechanisms bottom.
The soft blade mechanisms include the soft blade, dovetail groove and soft blade support of arc, and the arc length of soft blade is big
In the arc length of guide-track groove, to guarantee that entire cyclic annular multi-joint encircles device adjacent soft blade edge when encircling the not sisal hemp of homophyletic diameter
Embedded in together and not interspacing；Dovetail groove be vertically arranged on soft blade and can on the front side arch section inner wall of joint body
Dovetail groove guide rail match；It is used to be fixedly connected the drive of vertical telescopic hydraulic cylinder positioned at the soft blade support of soft insert bottom
Moved end.
The cyclic annular multi-joint is encircled device and is mounted on support arm, when cyclic annular multi-joint encircles a list in device
When joint arc mechanism is connected with support arm, the support section of rear side in the middle part of the front end of support arm and the simple joint arc mechanism
It is fixedly connected, is respectively fixed with the drive of joint folding motor and any joint folding motor at the both ends of the simple joint arc mechanism
It is fixed with the simple joint arc mechanism adjacent with the simple joint arc mechanism on moving axis, and the adjacent simple joint arc mechanism
The other end be fixed in the drive shaft of corresponding joint folding motor and corresponding joint folding motor be fixed with it is adjacent with this
Adjacent next simple joint arc mechanism, simple joint arc mechanism, N number of simple joint arc mechanism and N-1 joint open and close motor
Combination constitutes cyclic annular multi-joint and encircles device.
The cyclic annular multi-joint is encircled device and is mounted on support arm, when cyclic annular multi-joint encircles two lists in device
When joint arc mechanism is connected with support arm, then in the middle part of two simple joint arc mechanisms the support section of rear side respectively with support
Two branch arms of arm by pin shaft it is hinged, the front end of a pair of links between two branch arms respectively with two simple joint arc shapers
End on the inside of structure is hinged and the flexible opening for being able to drive two adjacent simple joint arc mechanisms of connecting rod and backs, two simple joints
End on the outside of arc mechanism is respectively fixed with solid in the drive shaft of corresponding joint folding motor and any joint folding motor
Surely there is the simple joint arc mechanism adjacent with the simple joint arc mechanism, and the other end of the adjacent simple joint arc mechanism is solid
Surely the simple joint adjacent with this is fixed in the drive shaft for having corresponding joint folding motor and the corresponding joint folding motor
Adjacent next simple joint arc mechanism, arc mechanism, N number of simple joint arc mechanism and N-2 joint folding motor combination are constituted
Cyclic annular multi-joint encircles device.
A kind of efficient lossless for tapping device for sisal hemp leaf taps the application method of head, which taps head and adopt
The n-layer sisal hemp leaf of sisal hemp bottom maturation is tapped with the method for horizontal resection after first cutting vertically upward, the user
The step of method are as follows:
A, when sisal hemp leaf taps parking when device recognizes manipulating object, and the efficient lossless of opening is tapped into head and stretches to sisal hemp
Strain lower space simultaneously touch or will touch sisal hemp strain it is dry after stop extension, each joint folding electric motor starting backs correspondence
Each simple joint arc mechanism surround cyclic annular multi-joint and encircle device to encircle sisal hemp strain dry；
B, the starting of vertical telescopic hydraulic cylinder retracts driving end and drives soft blade mechanisms uplink, when the pressure that vertical telescopic hydraulic cylinder carries
Force snesor delivers a signal to sisal hemp leaf and taps device when perceiving certain pressure, sisal hemp leaf taps device driving support arm
Moment is raised to the height of (n-1)th layer of sisal hemp leaf and cuts down the sisal hemp leaf of first layer to (n-1)th layer completely；
C, the soft blade mechanisms downlink return of driving end drive is stretched out in the starting of vertical telescopic hydraulic cylinder, exposes after soft blade mechanisms return
The blade of elastic cutter mechanism, support arm continue to be raised to n-th layer sisal hemp leaf root lower surface on blade top；
D, gear motor starting drives gear reciprocating rotation starting circumgyration incision work pattern, arc-shaped rack band dynamic elasticity cutter machine
Structure reciprocating rotation makes blade horizontal resection n-th layer sisal hemp leaf.
The detailed process of the step A are as follows: when sisal hemp leaf taps parking when device recognizes manipulating object, and will open
Efficient lossless tap head stretch to sisal hemp strain lower space, when the front side cambered surface for the simple joint arc mechanism that support arm is connected is touched
It contacts and stops extension behind the dry surface of sisal hemp strain, each joint folding electric motor starting corresponding each simple joint arc mechanism that backs surrounds ring
Shape multi-joint encircles device and encircles that sisal hemp strain is dry or connecting rod is pulled back corresponding two simple joints arc mechanism makes two simple joint arcs
Mechanism backs, remaining simple joint arc mechanism backs under the action of joint opens and closes motor later, realizes cyclic annular more passes
Section is encircled device and is encircled to what sisal hemp strain was done.
When efficient lossless taps head equipped with range sensor, the detailed process of step A are as follows: when sisal hemp leaf taps dress
Parking when recognizing manipulating object is set, and the efficient lossless of opening is tapped into head and stretches to sisal hemp strain lower space, when distance perception is answered
Device senses that the front side cambered surface for the simple joint arc mechanism that support arm is connected touches or will touch the dry surface of sisal hemp strain
Stop extension afterwards, the folding electric motor starting corresponding each simple joint arc mechanism that backs in each joint surrounds cyclic annular multi-joint and encircles device
Encircling sisal hemp strain is dry or connecting rod is pulled back, corresponding two simple joints arc mechanism makes two simple joint arc mechanisms back, Zhi Houqi
Remaining simple joint arc mechanism backs under the action of joint opens and closes motor, realizes that cyclic annular multi-joint encircles device to sisal hemp
Strain is dry to encircle.
In the course of work of the step D, when elastic cutter mechanism reciprocating rotation, the idler wheel of blade tip is able to enter
In gap between n-th layer sisal hemp leaf and the root lower surface of (n+1)th layer of sisal hemp leaf is withstood, blade is in adjustable spring at this time
It is extended automatically under the action of the elastic force of offer, it can be under the premise of not damaging (n+1)th layer of sisal hemp leaf root by n-th layer sisal hemp
Blade is cut completely.
The present invention has the following advantages compared with prior art:
Efficient lossless of the invention taps head and cuts n-1 layers of sisal hemp leaf, rear horizontal resection n-th layer sisal hemp vertically upward using first
The mode of blade taps the n-layer sisal hemp leaf of sisal hemp bottom maturation, and (n+1)th layer of sisal leaves will not be injured during tapping
The root of piece taps quickly and effect is good, and the sisal hemp leaf later suitable for tropical the second knife of sisal hemp crop fiber crops is tapped, can be right
Sisal hemp under the complexity growth conditions of torrid areas is efficiently tapped, substantially reduce the second knife later cost of labor problem of fiber crops and
Effectively solve the problems, such as labour's scarcity, working efficiency is up to 15-20 times artificial of height.
Detailed description of the invention
Attached drawing 1 is that efficient lossless of the invention taps head and is mounted on sisal hemp leaf and taps three-dimensional knot on the support arm of device
Structure schematic diagram；
Attached drawing 2 is that efficient lossless of the invention taps head and is mounted on the planar structure that sisal hemp leaf is tapped on the support arm of device and shows
It is intended to；
Attached drawing 3 is the schematic view of facade structure of simple joint arc mechanism of the invention；
Attached drawing 4 is the overlooking structure diagram of simple joint arc mechanism of the invention；
Attached drawing 5 is the operation principle schematic diagram of elastic cutter mechanism of the invention；
Attached drawing 6 is the structural schematic diagram of elastic cutter mechanism of the invention；
Attached drawing 7 is the partial cutaway schematic of elastic cutter mechanism of the invention；
Attached drawing 8 is the structural schematic diagram of soft blade mechanisms of the invention；
Attached drawing 9 is soft blade incision principle schematic diagram of the invention；
Attached drawing 10 is n-th layer sisal hemp leaf root top view；
Attached drawing 11 is that efficient lossless of the invention taps schematic diagram when head tap operation；
Attached drawing 12 taps head for efficient lossless of the invention and taps effect diagram to sisal hemp leaf.
Wherein: 1-support arm；11-branch arms；2-cyclic annular multi-joints encircle device；20-simple joint arc mechanisms；
21-joint bodies；22-gear motors；23-vertical telescopic hydraulic cylinders；24-guide-track grooves；25-arc-shaped racks；26-gears；
27-soft blade support framves；28-dovetail groove guide rails；3-joints open and close motor；4-elastic cutter mechanisms；41-idler wheels；42—
Blade；43-knife rests；44-adjustable springs；45-welding springs；5-soft blade mechanisms；51-soft blades；52-dovetail grooves；
53-soft blade supports；6-connecting rods；7-connecting rods；8-range sensors.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and embodiments.
As Figure 1-10 shows: a kind of efficient lossless that tapping device for sisal hemp leaf taps head, this tap head include by
The ring-type of multiple simple joint arcs mechanism 20 and the joint folding composition of motor 3 for opening and closing adjacent simple joint arc mechanism 20 is more
Joint encircles device 2, and cyclic annular multi-joint, which encircles device 2, to surround sisal hemp to be tapped from the root of sisal hemp；In any single pass
Saving all can be with respect to simple joint arc equipped with elastic cutter mechanism 4 and soft blade mechanisms 5, soft blade mechanisms 5 in arc mechanism 20
Mechanism 20 is vertically moved up or down to cut the lower part of the n-1 layer and n-th layer of sisal hemp leaf target number of plies n, elastic cutter machine from bottom to top
Blade 42 on structure 4 can the remainder to n-th layer sisal hemp leaf cut and do not damage (n+1)th layer of sisal hemp leaf.?
The efficient lossless is tapped in head, and the lower end of elastic cutter mechanism 4 is fixed in corresponding simple joint arc mechanism 20, and elasticity is cut
Cutter mechanism 4 is attached on the outer wall of soft blade mechanisms 5；When soft blade mechanisms 5 are lowered back to place, the blade of elastic cutter mechanism 4
42 can cross soft blade mechanisms 5 into cutting position.
As shown in Figs. 1-5, cyclic annular multi-joint is encircled device 2 and is connected in an articulated manner by multiple simple joint arcs mechanism 20
Together, multiple simple joint arcs mechanism 20 can realize that multi-joint taps head by being mounted on the joint folding motor 3 of joint
Opening and encircle movement.Any simple joint arc mechanism 20 all includes that joint body 21, gear motor 22 and vertical telescopic are hydraulic
Cylinder 23, the front side arch section of joint body 21 are equipped with guide-track groove 24, and guide-track groove 24 is interior past equipped with elastic cutter mechanism 4 is able to drive
The arc-shaped rack 25 and arc-shaped rack 25 moved again is engaged with the gear 26 being arranged in joint body 21 to be connected, and gear 26 is mounted on tooth
The drive shaft and gear motor 22 of turbin generator 22 are fixed on the Backside support upper of joint body 21, the rear side branch of joint body 21
Support beneath portions are fixed with the vertical telescopic hydraulic cylinder 23 that can go up and down soft blade mechanisms 5.The arc of simple joint arc mechanism 20
The arc length of rack gear 25 is the half of 24 arc length of guide-track groove, by the reciprocating rotary band carry-over bar 25 of gear motor 22 in guide-track groove 24
It moves reciprocatingly；And the both ends of arc-shaped rack 25 are respectively fixed with an elastic cutter mechanism 4, elastic cutter mechanism 4 is with rack gear
25 reciprocating motion and reciprocating cutting, it is ensured that the sisal hemp leaf in the arc range of a guide-track groove 24 is cut completely, more
The operation simultaneously of elastic cutter mechanism 4 in a simple joint arc mechanism 20 can greatly improve cutting efficiency.
As shown in Fig. 1-2,5-7, elastic cutter mechanism 4 includes idler wheel 41, blade 42, adjustable spring 44, knife rest 43 and weldering
Spring 45 is connect, idler wheel 41 is located at the upper end of blade 42 between being embedded between n-th layer sisal hemp leaf and (n+1)th layer of sisal hemp leaf
In gap；In the lower end insertion knife rest 43 of blade 42 and on the adjustable spring 44 in knife rest 43, the blade of elastic cutter mechanism 4
Elastic activity between 42 and knife rest 43 is realized by adjustable spring 44, and adjustable spring 44 is placed in the inside of knife rest 43, when
Adjustable spring 44 is compressed when blade 42 is under pressure, and the idler wheel 41 on 42 top of blade is close to the root of upper layer sisal hemp leaf at this time
Lower surface, wherein idler wheel 41 can be smooth circular metal material, it is intended to the root to upper layer sisal hemp leaf be avoided to make
At scuffing；It is to be connected by way of welding spring 45 between elastic cutter mechanism 4 and arc-shaped rack 25, is located at 43 tail of knife rest
The bottom end of the welding spring 45 at end is welded on the end of the arc-shaped rack 25 in corresponding simple joint arc mechanism 20, welds spring 45
Soldering angle should make idler wheel 41 swing to inside, under the action of welding spring 45, idler wheel 41 can be as far as possible close to upper layer leaf
It does not damage at the root of piece lower surface and at the blade lower surface root of upper layer；Further, to make each simple joint arc mechanism
Sisal hemp leaf at 20 corresponding zone boundaries is tapped completely, has deserved the elastic cutter mechanism 4 of 25 end of front arc rack gear both
Inclination tilts to the right again inwardly, realizes that the blade 42 of the right part on each arc-shaped rack 25 crosses the border cutting.
As shown in Fig. 1-2,8, the lift adjustment of soft blade mechanisms 5 is realized by vertical telescopic hydraulic cylinder 23, also may be used
Soft blade mechanisms 5 are gone up and down using small pneumatic cylinder or other driving mechanisms；The driving end of vertical telescopic hydraulic cylinder 23 is equipped with soft
Blade support frame 27, soft blade support frame 27 go the soft blade support for being fixedly connected with soft 5 bottom of blade mechanisms by connecting rod 6
53.Soft blade mechanisms 5 include soft blade 51, dovetail groove 52 and the soft blade support 53 of arc, and the arc length of soft blade 51 is greater than
The arc length of guide-track groove 24, to guarantee that entire cyclic annular multi-joint encircles the adjacent soft blade when encircling the not sisal hemp of homophyletic diameter of device 2
51 inlay together and do not interspace (as shown in Figs. 1-2), it is ensured that tap head and realize in vertical cutting action part to sisal leaves
The complete cutting of piece；Dovetail groove 52 be vertically arranged on soft blade 51 and can on the front side arch section inner wall of joint body 21
Dovetail groove guide rail 28 match, the vertical lift of soft blade 51 is realized under the action of vertical telescopic hydraulic cylinder 23；Positioned at soft
The soft blade support 53 of 51 bottom of blade is used to be fixedly connected the driving end of vertical telescopic hydraulic cylinder 23, i.e., soft blade mechanisms 5
Soft blade support frame 27 and soft blade support 53 are connected by connecting rod 6, wherein connecting rod 6 and soft blade support frame 27 and soft
Blade support 53 is to be fixedly connected.
As shown in Figs. 1-2, cyclic annular multi-joint is encircled device 2 and is mounted on support arm 1, when cyclic annular multi-joint encircles device 2
In a simple joint arc mechanism 20 when being connected with support arm 1, in the front end of support arm 1 and the simple joint arc mechanism 20
Support section on rear side of portion is fixedly connected, the both ends of the simple joint arc mechanism 20 be respectively fixed with joint folding motor 3 and
It is fixed with the simple joint arc mechanism 20 adjacent with the simple joint arc mechanism 20 in the drive shaft of any joint folding motor 3,
And the other end of the adjacent simple joint arc mechanism 20 is fixed with corresponding joint folding motor 3 and the corresponding joint folding
Adjacent next simple joint arc mechanism 20, the simple joint arc mechanism 20 adjacent with this is fixed in the drive shaft of motor 3, it is N number of
Simple joint arc mechanism 20 and the N-1 joint folding combination of motor 3 constitute cyclic annular multi-joint and encircle device 2.
As shown in Figs. 1-2, cyclic annular multi-joint is encircled device 2 and is mounted on support arm 1, when cyclic annular multi-joint encircles device 2
In two simple joint arc mechanisms 20 when being connected with support arm 1, then the branch of two 20 middle part rear sides of simple joint arc mechanisms
Support part is hinged by pin shaft with two branch arms 11 of support arm 1 respectively, before a pair of links 7 between two branch arms 11
End is hinged with the end on the inside of two simple joint arc mechanism 20 respectively and the flexible of connecting rod 7 is able to drive two adjacent simple joint arcs
It the opening of mechanism 20 and backs, the end in two simple joint arc mechanisms, 20 outside is respectively fixed with corresponding joint folding motor 3
And the simple joint arc mechanism adjacent with the simple joint arc mechanism 20 is fixed in the drive shaft of any joint folding motor 3
20, and the other end of the adjacent simple joint arc mechanism 20 is fixed with corresponding joint folding motor 3 and the corresponding joint
It opens and closes and is fixed with adjacent next simple joint arc mechanism, the simple joint arc mechanism 20 adjacent with this in the drive shaft of motor 3
20, N number of simple joint arc mechanism 20 and the N-2 joint folding combination of motor 3 constitute cyclic annular multi-joint and encircle device 2.In the knot
In structure, if being reconfigured range sensor 8, usage mode are as follows: when the distance-sensor 8 on cutting head senses 7 institute of connecting rod
When the simple joint arc mechanism 20 of connection touches sisal hemp strain dry surface, connecting rod 7 is pulled back, so that the simple joint being attached thereto
Arc mechanism 20 backs, remaining simple joint arc mechanism 20 backs under the action of joint opens and closes motor 3 later, realizes
It is dry to sisal hemp strain to encircle；After cutting operation, connecting rod 7 is pushed forward, so that the simple joint arc mechanism 20 being attached thereto is beaten
It opens, remaining simple joint arc mechanism 20 is opened under the action of joint opens and closes motor 3 later.
Due to having the phenomenon that individual sisal hemp out of plumb growth, with reference to the manufacturing technology of existing machinery arm, what the present invention used
Branch gripping arm 1 should be a multivariant mechanical arm configuration, to adapt to the gradient of sisal hemp growth.In addition, being provided in the present invention
Tap on head, may also be configured with range sensor 8 to limit the stop position after tapping head extension, at this moment range sensor 8
It can play the role of estimating, touch or will touch the extension movement for stopping tapping head after sisal hemp strain is done in soft blade 51；
Certainly common mode also can be used, does not set range sensor 8, then soft blade 51 touches stopping after sisal hemp strain is done and taps head at this time
Extension movement.
Carry out further instruction below by the use for tapping head to efficient lossless provided by the invention.
A kind of efficient lossless for tapping device for sisal hemp leaf taps the application method of head, which taps head and adopt
The n-layer sisal hemp leaf of sisal hemp bottom maturation is tapped with the method for horizontal resection after first cutting vertically upward, the user
The step of method are as follows: A, tap parking when device recognizes manipulating object when sisal hemp leaf, and the efficient lossless of opening is tapped into head
It stretches to sisal hemp strain lower space and stops extension after sisal hemp strain is done touching or will touch, each joint folding motor 3 opens
The dynamic corresponding each simple joint arc mechanism 20 that backs surrounds cyclic annular multi-joint and encircles device 2 to encircle sisal hemp strain dry；B, vertical telescopic
The starting of hydraulic cylinder 23 retracts driving end and drives soft 5 uplink of blade mechanisms, when the pressure sensor that vertical telescopic hydraulic cylinder 23 carries
Sisal hemp leaf is delivered a signal to when perceiving certain pressure and taps device, and sisal hemp leaf taps device driving 1 moment of support arm lift
The height of up to (n-1)th layer sisal hemp leaf simultaneously cuts down the sisal hemp leaf of first layer to (n-1)th layer completely；C, vertical telescopic
The starting of hydraulic cylinder 23 stretches out driving end and drives soft 5 downlink return of blade mechanisms, and elastic cutter machine is exposed after soft 5 return of blade mechanisms
The blade 42 of structure 4, support arm 1 continue to be raised to the upper n-th layer sisal hemp leaf root lower surface in the top of blade 42；D, gear motor 22 opens
Dynamic band 26 reciprocating rotation of moving gear starts circumgyration incision work pattern, and arc-shaped rack 25 is with 4 reciprocating rotation of dynamic elasticity cutter mechanism
So that 42 horizontal resection n-th layer sisal hemp leaf of blade；And when elastic 4 reciprocating rotation of cutter mechanism, the idler wheel on 42 top of blade
41 are able to enter in the gap between n-th layer sisal hemp leaf and withstand the root lower surface of (n+1)th layer of sisal hemp leaf, at this time blade
42 extend automatically under the action of the elastic force that adjustable spring 44 provides, can be before not damaging (n+1)th layer of sisal hemp leaf root
It puts and cuts n-th layer sisal hemp leaf completely.
In the application method, if there are range sensor 8, there are nuances.
When efficient lossless, which is tapped, is not provided with range sensor 8 on head, the detailed process of step A are as follows: when sisal hemp leaf is adopted
Parking when device recognizes manipulating object is cut, and the efficient lossless of opening is tapped into head and stretches to sisal hemp strain lower space, works as support
The front side cambered surface for the simple joint arc mechanism 20 that arm 1 is connected stops extension, each joint folding after touching the dry surface of sisal hemp strain
The starting of the motor 3 corresponding each simple joint arc mechanism 20 that backs surrounds cyclic annular multi-joint and encircles device 2 to encircle sisal hemp strain dry, or
Connecting rod 7 pull back corresponding two simple joints arc mechanism 20 so that two simple joint arc mechanisms 20 is backed, remaining simple joint arc later
Shape mechanism 20 backs under the action of joint opens and closes motor 3, realizes that cyclic annular multi-joint encircles the ring dry to sisal hemp strain of device 2
It embraces.
When efficient lossless taps head equipped with range sensor 8, the detailed process of step A are as follows: when sisal hemp leaf is tapped
Parking when device recognizes manipulating object, and the efficient lossless of opening is tapped into head and stretches to sisal hemp strain lower space, work as distance perception
The front side cambered surface for the simple joint arc mechanism 20 for answering device 8 to sense that support arm 1 is connected touches or will touch sisal hemp strain
Stopping extension behind dry surface, each joint folding motor 3 start the corresponding each simple joint arc mechanism 20 that backs and surround ring-type mostly pass
Section encircles device 2 and encircles that sisal hemp strain is dry or connecting rod 7 is pulled back corresponding two simple joints arc mechanism 20 makes two simple joint arc shapers
Structure 20 backs, remaining simple joint arc mechanism 20 backs under the action of joint opens and closes motor 3 later, realizes cyclic annular more
Joint encircles device 2 and encircles to what sisal hemp strain was done.
It is done further below with reference to the application method that Fig. 1-2,9-12 tap head to efficient lossless provided by the invention
It is bright.
It is as shown in figure 11 that sisal hemp leaf efficient lossless taps schematic diagram, and specific method is first vertical cutting, rear horizontal cutting
The method cut, manipulating object are two knives fiber crops and the later sisal hemp leaf of two knives fiber crops, the feed surplus of Di Zhuyou certain space, now with
N-layer maturation sisal hemp leaf under tapping (sisal hemp leaf and strain dry angle can be considered mature when being greater than or equal to 45 °, can tap)
For be illustrated.
The parking when sisal hemp leaf cutter device recognizes manipulating object, and the head of tapping of opening is stretched to what sisal hemp strain was done
Lower space, when the test of range sensor 8 does certain distance in front of it to sisal hemp strain, it is vertical that cyclic annular multi-joint encircles device 2
Horse encircles sisal hemp strain and does, and soft blade 51 is raised in the subsequent starting of vertical telescopic hydraulic cylinder 23, carries when vertical telescopic hydraulic cylinder 23
When pressure sensor senses are to certain pressure, the moment of support arm 1 is raised to the height of (n-1)th layer of sisal hemp leaf, raises the number of plies
Determining method is as shown in figure 9, according to sisal hemp leaf Root Morphology feature, and adjacent sisal hemp leaf exists certain on a helix
When surface is done in the non-abutting strain of spatial margin u(, it is close to when surface is done in strain then without spatial margin), when soft blade 51 cuts first layer
Since cut surface is gradually increased when blade, cutting force is also gradually increased, and due to the presence of spatial margin u when switching to half position
It sharply increasing again after the reduction for keeping cutting force of short duration, soft blade cuts the blade of the 1st level course and the 2nd level course simultaneously at this time,
Such a loading process is denoted as 1 stress change procedure, similarly, cuts stress mistake when the 2nd level course to 3 level course
2 loading processes of Cheng Jiwei, not hurt n+1 layers of blade, soft blade 51 should decline immediately after n-1 loading process；Later
Raising height H(H value by support arm 1 should make blade 42 push up upper n-th layer sisal hemp leaf root lower surface), starting rotation at this time
Cutting operation mode, as shown in the root top view of the n-th level course sisal hemp leaf in Figure 10, the n-th level course had for 13 week
Make elastic cutter mechanism 4 in rotation to the presence of the blade of arrangement, and size d, the idler wheel 41 on 42 top of blade enters ruler
In the gap of very little d and the root lower surface of (n+1)th layer of sisal hemp leaf is withstood, blade 42 is acted in the elastic force of adjustable spring 44 at this time
Lower automatic spring elongation, can cut completely n-th layer sisal hemp leaf under the premise of not damaging (n+1)th layer of sisal hemp leaf root,
Effect after tapping is as shown in figure 12.
Efficient lossless of the invention taps head and cuts n-1 layers of sisal hemp leaf, rear horizontal resection n-th layer vertically upward using first
The mode of sisal hemp leaf taps the n-layer sisal hemp leaf of sisal hemp bottom maturation, and (n+1)th layer of sword will not be injured during tapping
The root of sesame slices piece taps quickly and effect is good, and the sisal hemp leaf later suitable for tropical the second knife of sisal hemp crop fiber crops is tapped, energy
It is enough that sisal hemp under the complexity growth conditions of torrid areas is efficiently tapped, it substantially reduces the later cost of labor of the second knife fiber crops and asks
Topic solves the problems, such as labour's scarcity with effective, and working efficiency is up to 15-20 times artificial of height.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within；The technology that the present invention is not directed to can be realized by the prior art.
Claims (14)
1. a kind of efficient lossless for tapping device for sisal hemp leaf taps head, it is characterised in that: it includes by multiple that this, which taps head,
The ring-type of simple joint arc mechanism (20) and joint folding motor (3) composition for opening and closing adjacent simple joint arc mechanism (20)
Multi-joint is encircled device (2), and cyclic annular multi-joint, which encircles device (2), to surround sisal hemp to be tapped from the root of sisal hemp；It is in office
Elastic cutter mechanism (4) and soft blade mechanisms (5) are all equipped in one simple joint arc mechanism (20), soft blade mechanisms (5) can
Opposite simple joint arc mechanism (20) is vertically moved up or down to cut the n-1 layer of sisal hemp leaf target number of plies n and n-th layer from bottom to top
Lower part, blade (42) on elastic cutter mechanism (4) can the remainder to n-th layer sisal hemp leaf cut and do not damage
(n+1)th layer of sisal hemp leaf.
2. the efficient lossless according to claim 1 for tapping device for sisal hemp leaf taps head, it is characterised in that: described
The lower end of elastic cutter mechanism (4) is fixed in corresponding simple joint arc mechanism (20), and elastic cutter mechanism (4) is attached to
On the outer wall of soft blade mechanisms (5)；When soft blade mechanisms (5) are lowered back to place, the blade (42) of elastic cutter mechanism (4) can
Soft blade mechanisms (5) are crossed into cutting position.
3. the efficient lossless according to claim 1 for tapping device for sisal hemp leaf taps head, it is characterised in that: any
Simple joint arc mechanism (20) all includes joint body (21), gear motor (22) and vertical telescopic hydraulic cylinder (23), joint body
(21) front side arch section is equipped with guide-track groove (24), is equipped in guide-track groove (24) and is able to drive elastic cutter mechanism (4) back and forth
The arc-shaped rack (25) and arc-shaped rack (25) of movement are engaged with the gear (26) being arranged in joint body (21) to be connected, gear (26)
It is mounted on the drive shaft of gear motor (22) and gear motor (22) is fixed on the Backside support upper of joint body (21), close
The Backside support beneath portions of section body (21) are fixed with the vertical telescopic hydraulic cylinder (23) that can go up and down soft blade mechanisms (5).
4. the efficient lossless according to claim 3 for tapping device for sisal hemp leaf taps head, it is characterised in that: described
The arc length of arc-shaped rack (25) is the half of guide-track groove (24) arc length；And the both ends of the arc-shaped rack (25) are respectively fixed with one
A elasticity cutter mechanism (4).
5. according to claim 1,2,3,4 any efficient lossless for tapping device for sisal hemp leaf tap head, special
Sign is: the elastic cutter mechanism (4) includes idler wheel (41), blade (42), adjustable spring (44), knife rest (43) and welding
Spring (45), idler wheel (41) are located at the upper end of blade (42) for being embedded between n-th layer sisal hemp leaf and (n+1)th layer of sisal hemp leaf
Gap in, in the lower end of blade (42) insertion knife rest (43) and on the adjustable spring (44) that is located in knife rest (43), be located at knife
The bottom end of the welding spring (45) of frame (43) tail end is welded on the arc-shaped rack (25) in corresponding simple joint arc mechanism (20)
End.
6. the efficient lossless according to claim 5 for tapping device for sisal hemp leaf taps head, it is characterised in that: described
Welding spring (45) welding angle should make idler wheel (41) swing to inside soft blade mechanisms (5) and tilt to the right.
7. the efficient lossless according to claim 3 for tapping device for sisal hemp leaf taps head, it is characterised in that: described
The driving end of vertical telescopic hydraulic cylinder (23) is equipped with soft blade support frame (27), and soft blade support frame (27) passes through connecting rod
(6) the soft blade support (53) for being fixedly connected with soft blade mechanisms (5) bottom is gone.
8. tapping head according to any efficient lossless for tapping device for sisal hemp leaf of claim 3,7, feature exists
In: the soft blade mechanisms (5) include the soft blade (51), dovetail groove (52) and soft blade support (53) of arc, soft knife
The arc length of piece (51) is greater than the arc length of guide-track groove (24), is encircling not homophyletic to guarantee that entire cyclic annular multi-joint encircles device (2)
Adjacent soft blade (51) inlays together and does not interspace when the sisal hemp of diameter；Dovetail groove (52) is vertically arranged on soft blade (51)
And it can be matched with the dovetail groove guide rail (28) on the front side arch section inner wall of joint body (21)；Positioned at soft blade (51) bottom
The soft blade support (53) in portion is used to be fixedly connected the driving end of vertical telescopic hydraulic cylinder (23).
9. the efficient lossless according to claim 1 for tapping device for sisal hemp leaf taps head, it is characterised in that: described
Cyclic annular multi-joint encircle device (2) and be mounted on support arm (1), one encircled in device (2) when cyclic annular multi-joint is single to close
When section arc mechanism (20) is connected with support arm (1), behind the front end of support arm (1) and the simple joint arc mechanism (20) middle part
The support section of side is fixedly connected, the both ends of the simple joint arc mechanism (20) be respectively fixed with joint folding motor (3) and
The simple joint arc mechanism adjacent with the simple joint arc mechanism (20) is fixed in the drive shaft of any joint folding motor (3)
(20), and the other end of the adjacent simple joint arc mechanism (20) is fixed with corresponding joint folding motor (3) and the correspondence
Joint folding motor (3) drive shaft on be fixed with the adjacent next simple joint of the simple joint arc mechanism (20) adjacent with this
Arc mechanism (20), N number of simple joint arc mechanism (20) and N-1 joint folding motor (3) combination constitute cyclic annular multi-joint ring
Embracing unit (2).
10. the efficient lossless according to claim 1 for tapping device for sisal hemp leaf taps head, it is characterised in that: institute
The cyclic annular multi-joint stated is encircled device (2) and is mounted on support arm (1), when cyclic annular multi-joint encircles two lists in device (2)
When joint arc mechanism (20) is connected with support arm (1), then in the middle part of two simple joint arc mechanisms (20) rear side support portion
It is hinged by pin shaft with two branch arms (11) of support arm (1) respectively, a pair of links (7) between two branch arms (11)
And connecting rod (7) flexible hinged with the end on the inside of two simple joint arc mechanisms (20) is able to drive two adjacent lists respectively for front end
It the opening of joint arc mechanism (20) and backs, the end on the outside of two simple joint arc mechanisms (20) is respectively fixed with corresponding pass
It is fixed in the drive shaft of section folding motor (3) and any joint folding motor (3) adjacent with the simple joint arc mechanism (20)
Simple joint arc mechanism (20), and the other end of the adjacent simple joint arc mechanism (20) is fixed with the folding of corresponding joint
The simple joint arc mechanism (20) adjacent with this is fixed in the drive shaft of motor (3) and corresponding joint folding motor (3)
Adjacent next simple joint arc mechanism (20), N number of simple joint arc mechanism (20) and N-2 joint folding motor (3) combination
It constitutes cyclic annular multi-joint and encircles device (2).
11. the application method that a kind of efficient lossless for tapping device for sisal hemp leaf taps head, it is characterised in that: the efficient nothing
Damage is tapped head and is adopted using the method for horizontal resection after first cutting vertically upward to the n-layer sisal hemp leaf of sisal hemp bottom maturation
It cuts, the step of the application method are as follows:
A, when sisal hemp leaf taps parking when device recognizes manipulating object, and the efficient lossless of opening is tapped into head and stretches to sisal hemp
Strain lower space simultaneously touch or will touch sisal hemp strain it is dry after stop extension, each joint folding motor (3) starting backs pair
Each simple joint arc mechanism (20) answered surrounds cyclic annular multi-joint and encircles device (2) to encircle sisal hemp strain dry；
B, vertical telescopic hydraulic cylinder (23) starting retracts driving end and drives soft blade mechanisms (5) uplink, when vertical telescopic hydraulic cylinder
(23) included pressure sensor senses to certain pressure when deliver a signal to sisal hemp leaf and tap device, sisal hemp leaf taps dress
Setting driving support arm (1) moment is raised to the height of the (n-1)th layer of sisal hemp leaf and sisal hemp leaf of first layer to (n-1)th layer is complete
It cuts down entirely；
C, soft blade mechanisms (5) the downlink return of driving end drive, soft blade mechanisms (5) are stretched out in vertical telescopic hydraulic cylinder (23) starting
Expose the blade (42) of elastic cutter mechanism (4) after return, support arm (1) continues to be raised to n-th layer sisal hemp on blade (42) top
Root of blade lower surface；
D, gear motor (22) starting band moving gear (26) reciprocating rotation starts circumgyration incision work pattern, arc-shaped rack (25) band
Dynamic elasticity cutter mechanism (4) reciprocating rotation makes blade (42) horizontal resection n-th layer sisal hemp leaf.
12. the efficient lossless according to claim 11 for tapping device for sisal hemp leaf taps the application method of head,
Be characterized in that: the detailed process of the step A are as follows: when sisal hemp leaf taps parking when device recognizes manipulating object, and will
The efficient lossless opened taps head and stretches to sisal hemp strain lower space, when the simple joint arc mechanism (20) that support arm (1) is connected
Front side cambered surface stops extension after touching the dry surface of sisal hemp strain, and each joint folding motor (3) starts the corresponding each simple joint that backs
Arc mechanism (20), which surrounds cyclic annular multi-joint, encircles device (2) and encircles that sisal hemp strain is dry or connecting rod (7) is pulled back and corresponding two single close
Arc mechanism (20) make two simple joint arc mechanisms (20) back to section, remaining simple joint arc mechanism (20) opens in joint later
It backs under the action of conjunction motor (3), realizes that cyclic annular multi-joint is encircled device (2) and encircled to what sisal hemp strain was done.
13. the efficient lossless according to claim 11 for tapping device for sisal hemp leaf taps the application method of head,
It is characterized in that: when efficient lossless taps head equipped with range sensor (8), the detailed process of step A are as follows: when sisal hemp leaf is adopted
Parking when device recognizes manipulating object is cut, and the efficient lossless of opening is tapped into head and stretches to sisal hemp strain lower space, works as distance
Inductor (8) senses that the front side cambered surface for the simple joint arc mechanism (20) that support arm (1) is connected is touched or will be touched
Stop extension after to the dry surface of sisal hemp strain, each joint folding motor (3) starts the corresponding each simple joint arc mechanism (20) that backs
It surrounds cyclic annular multi-joint and encircles device (2) corresponding two simple joints arc mechanism of encircling that sisal hemp strain is dry or connecting rod (7) is pulled back
(20) two simple joint arc mechanisms (20) is made to back, later remaining simple joint arc mechanism (20) joint open and close motor (3)
Under the action of back, realize that cyclic annular multi-joint encircles that device (2) is dry to sisal hemp strain to be encircled.
14. the efficient lossless according to claim 11 for tapping device for sisal hemp leaf taps the application method of head,
It is characterized in that: in the course of work of the step D, when elastic cutter mechanism (4) reciprocating rotation, the idler wheel on blade (42) top
(41) it is able to enter in the gap between n-th layer sisal hemp leaf and withstands the root lower surface of (n+1)th layer of sisal hemp leaf, at this time knife
Piece (42) extends automatically under the action of the elastic force that adjustable spring (44) provides, and can not damage (n+1)th layer of sisal hemp leaf root
N-th layer sisal hemp leaf is cut completely under the premise of portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751063.3A CN110337899B (en) | 2019-08-14 | 2019-08-14 | Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751063.3A CN110337899B (en) | 2019-08-14 | 2019-08-14 | Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110337899A true CN110337899A (en) | 2019-10-18 |
| CN110337899B CN110337899B (en) | 2023-06-23 |
Family
ID=68185043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910751063.3A Active CN110337899B (en) | 2019-08-14 | 2019-08-14 | Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110337899B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113841510A (en) * | 2020-10-23 | 2021-12-28 | 西华大学 | Sisal leaf harvester |
| CN114271094A (en) * | 2021-12-08 | 2022-04-05 | 贵州省烟草公司贵阳市公司 | Tobacco field harvesting device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3609941C1 (en) * | 1986-03-24 | 1987-08-06 | Wolfgang Prof Dr-Ing Steinchen | Sisal leaf cutting implement |
| CN105210549A (en) * | 2015-10-05 | 2016-01-06 | 上海大学 | A kind of claw folding sisal hemp grain header |
| CN105248043A (en) * | 2014-07-15 | 2016-01-20 | 海南大学 | Sisal hemp harvester |
| CN107926278A (en) * | 2017-11-13 | 2018-04-20 | 江苏华峰自然纤维制品有限公司 | The harvester of sisal leaves |
| CN107950184A (en) * | 2017-11-16 | 2018-04-24 | 农业部南京农业机械化研究所 | A kind of sisal hemp harvester |
| CN108401838A (en) * | 2018-03-16 | 2018-08-17 | 重庆大学 | Automatic rubber tapping machine people |
| CN108476719A (en) * | 2018-06-04 | 2018-09-04 | 贵州民族大学 | A kind of pineapple picking auxiliary device |
| CN108770480A (en) * | 2018-05-05 | 2018-11-09 | 东莞市皓奇企业管理服务有限公司 | The application method of intelligent flax-harvester device people |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
| WO2019034600A1 (en) * | 2017-08-16 | 2019-02-21 | Freddy Elsen | Device for undercutting and removing root balls |
| CN208768452U (en) * | 2018-05-29 | 2019-04-23 | 西安理工大学 | A kind of telescopic guide rail pineapple auxiliary picker |
| CN211090703U (en) * | 2019-08-14 | 2020-07-28 | 南京林业大学 | Efficient lossless harvesting head for sisal hemp blade harvesting device |
-
2019
- 2019-08-14 CN CN201910751063.3A patent/CN110337899B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3609941C1 (en) * | 1986-03-24 | 1987-08-06 | Wolfgang Prof Dr-Ing Steinchen | Sisal leaf cutting implement |
| CN105248043A (en) * | 2014-07-15 | 2016-01-20 | 海南大学 | Sisal hemp harvester |
| CN105210549A (en) * | 2015-10-05 | 2016-01-06 | 上海大学 | A kind of claw folding sisal hemp grain header |
| WO2019034600A1 (en) * | 2017-08-16 | 2019-02-21 | Freddy Elsen | Device for undercutting and removing root balls |
| CN107926278A (en) * | 2017-11-13 | 2018-04-20 | 江苏华峰自然纤维制品有限公司 | The harvester of sisal leaves |
| CN107950184A (en) * | 2017-11-16 | 2018-04-24 | 农业部南京农业机械化研究所 | A kind of sisal hemp harvester |
| CN108401838A (en) * | 2018-03-16 | 2018-08-17 | 重庆大学 | Automatic rubber tapping machine people |
| CN108770480A (en) * | 2018-05-05 | 2018-11-09 | 东莞市皓奇企业管理服务有限公司 | The application method of intelligent flax-harvester device people |
| CN208768452U (en) * | 2018-05-29 | 2019-04-23 | 西安理工大学 | A kind of telescopic guide rail pineapple auxiliary picker |
| CN108476719A (en) * | 2018-06-04 | 2018-09-04 | 贵州民族大学 | A kind of pineapple picking auxiliary device |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
| CN211090703U (en) * | 2019-08-14 | 2020-07-28 | 南京林业大学 | Efficient lossless harvesting head for sisal hemp blade harvesting device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113841510A (en) * | 2020-10-23 | 2021-12-28 | 西华大学 | Sisal leaf harvester |
| CN113841510B (en) * | 2020-10-23 | 2024-02-06 | 西华大学 | Sisal hemp leaf harvester |
| CN114271094A (en) * | 2021-12-08 | 2022-04-05 | 贵州省烟草公司贵阳市公司 | Tobacco field harvesting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110337899B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106233938B (en) | The end effector of serial type fruit picking robot | |
| CN201167486Y (en) | String-shaped fruits picking mechanical hand | |
| CN110337899A (en) | The efficient lossless for tapping device for sisal hemp leaf taps head and its application method | |
| CN106342484A (en) | Clamping rotary cutting type underactuated two-finger grape picking device | |
| CN112244333B (en) | Banana comb falling platform based on rigid-flexible coupling parallel mechanism | |
| CN108353622B (en) | Full-automatic pineapple picking method | |
| CN105103795A (en) | Cherry picking robot end actuator | |
| CN110199684A (en) | A kind of Agriculture pick robot | |
| CN110337900B (en) | Sisal hemp leaf harvesting machine and harvesting method thereof | |
| CN209609235U (en) | A kind of strawberry device for picking | |
| CN208210824U (en) | Corn threshing device | |
| CN107242764A (en) | A kind of device for removing Kiwi berry crust | |
| CN214560914U (en) | Two-degree-of-freedom compound drive humanoid intelligent tea picking device | |
| CN210470336U (en) | Be applied to actuating mechanism that luffa was picked | |
| CN211210562U (en) | Hand-held type prickly ash picks device | |
| CN211090703U (en) | Efficient lossless harvesting head for sisal hemp blade harvesting device | |
| CN209999226U (en) | manipulator for picking berries planted in overhead manner | |
| CN107466594A (en) | A kind of biomimetic type Picking shearses based on pneumatic muscles | |
| CN115280970B (en) | Negative pressure adsorption vertical pulling type simulated hand tea picking device and picking method | |
| CN116326431A (en) | Self-walking tremella harvesting robot and using method thereof | |
| CN115623915A (en) | Wisdom big-arch shelter tomato harvesting equipment | |
| CN109605409A (en) | A kind of fruit picking robot end effector | |
| CN211152794U (en) | Broccoli picking mechanical claw suitable for various flower stalk lengths | |
| CN212381707U (en) | Pepper picking device | |
| CN204907198U (en) | Mechanical people end effector is plucked to cherry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |