CN110337899B - Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof - Google Patents
Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof Download PDFInfo
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- CN110337899B CN110337899B CN201910751063.3A CN201910751063A CN110337899B CN 110337899 B CN110337899 B CN 110337899B CN 201910751063 A CN201910751063 A CN 201910751063A CN 110337899 B CN110337899 B CN 110337899B
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- 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
Abstract
The invention discloses a high-efficiency nondestructive cutting head for a sisal hemp leaf cutting device and a use method thereof, wherein the cutting head comprises an annular multi-joint encircling device (2) formed by a plurality of single-joint arc mechanisms (20) and joint opening and closing motors (3) for opening and closing adjacent single-joint arc mechanisms (20), and the annular multi-joint encircling device (2) can encircle sisal hemp to be cut from the root of the sisal hemp; an elastic cutter mechanism (4) for horizontal cutting and a soft blade mechanism (5) for vertical cutting are arranged on any single-joint arc mechanism (20). The use method comprises the steps of firstly adopting a soft blade mechanism (5) to cut the sisal hemp blades below the n-1 th layer from bottom to top, and then adopting an elastic cutter mechanism (4) to horizontally cut the sisal hemp blades of the n-1 th layer. The efficient nondestructive cutting head can be used for rapidly cutting n layers of mature sisal hemp leaves at the bottom of sisal hemp, does not damage the root parts of the (n+1) layers of sisal hemp leaves, and is suitable for cutting sisal hemp leaves after a second hemp cutter.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a part of a crop harvesting machine and a use method thereof, in particular to a high-efficiency nondestructive harvesting head for a sisal hemp leaf harvesting device and a use method thereof.
Background
Sisal hemp is a perennial tropical hard leaf fiber crop, and is the most widely used hard fiber in the world today. Sisal fiber has the characteristics of tough texture, wear resistance, saline alkali resistance, corrosion resistance and the like, is irreplaceable by synthetic fibers, has the advantages of no environmental pollution, difficult static electricity generation and the like, and is widely applied to various industries such as machinery manufacturing industry, transportation, fishery, petroleum, metallurgy and the like, and has important economic value.
At present, sisal hemp harvesting and cutting all over the world is completed by manpower, even if mechanical harvesting and cutting are adopted, the mechanical harvesting and cutting are also semi-mechanical tools, manual holding is needed, long-time operation efficiency is not as good as that of people, and for the environmental conditions of harvesting and cutting and the severe conditions of the environmental conditions, the manual harvesting and cutting are needed to be completed in a posture of body kneeling and groveling, and in addition, the current situations of serious ageing trend of labor population and severe shortage of labor force in tropical areas are added, so that huge impact is formed on sisal hemp industry. The mechanical cutting technique is advantageous for the second hemp and the sisal hemp leaves after the second hemp, and a certain space allowance at the bottom of the trunk can be used as a cutting edge. Based on the above, in order to break through the technical bottleneck and solve the difficulty of large-scale sisal hemp blade cutting operation, the research and development of intelligent sisal hemp blade cutting machinery becomes imminent.
Disclosure of Invention
The invention aims at solving the problems existing in the prior art and provides a high-efficiency nondestructive cutting head for a sisal hemp leaf cutting device and a using method thereof; the efficient nondestructive cutting head can realize intelligent mechanical efficient nondestructive cutting of sisal hemp, and improves the cutting efficiency of sisal hemp.
The invention aims at solving the problems through the following technical scheme:
a high-efficient harmless cutting head that adopts for sisal hemp blade adopts cutting device which characterized in that: the cutting head comprises an annular multi-joint encircling device which is composed of a plurality of single-joint arc mechanisms and joint opening and closing motors for opening and closing the adjacent single-joint arc mechanisms, wherein the annular multi-joint encircling device can encircle sisal hemp to be cut from the root of the sisal hemp; the elastic cutter mechanism and the soft blade mechanism are arranged on any single-joint arc mechanism, the soft blade mechanism can vertically lift relative to the single-joint arc mechanism so as to cut the n-1 layer of the target layer number n of the sisal hemp blades and the lower part of the n layer from bottom to top, and the blades on the elastic cutter mechanism can cut the rest part of the n layer of sisal hemp blades without damaging the n+1 layer of sisal hemp blades.
The lower end of the elastic cutter mechanism is fixed on the corresponding single-joint arc-shaped mechanism, and the elastic cutter mechanism is attached to the outer wall of the soft blade mechanism; when the soft blade mechanism descends to return, the blades of the elastic cutter mechanism can pass through the soft blade mechanism to enter the cutting position.
Any single joint arc mechanism all includes the joint body, gear motor and perpendicular flexible pneumatic cylinder, and the front side arc part of the joint body is equipped with the guide rail groove, is equipped with the arc rack that can drive elastic cutter mechanism reciprocating motion in the guide rail groove and the arc rack links to each other with the gear engagement that sets up in the joint body, and the gear is installed in gear motor's drive shaft and gear motor fixes in the rear side supporting part top of the joint body, and the rear side supporting part below of the joint body is fixed with the perpendicular flexible pneumatic cylinder that can go up and down soft blade mechanism.
The arc length of the arc-shaped rack is half of the arc length of the guide rail groove; and two ends of the arc-shaped rack are respectively fixed with an elastic cutter mechanism.
The elastic cutter mechanism comprises a roller, a blade, a telescopic spring, a cutter rest and a welding spring, wherein the roller is positioned at the upper end of the blade and used for being embedded into a gap between an nth layer sisal hemp blade and an n+1th layer sisal hemp blade, the lower end of the blade is embedded into the cutter rest and positioned on the telescopic spring in the cutter rest, and the bottom end of the welding spring positioned at the tail end of the cutter rest is welded at the end part of the arc-shaped rack corresponding to the single-joint arc-shaped mechanism.
The welding angle of the welding spring enables the roller to fall to the inner soft blade mechanism and incline to the right.
The driving end of the vertical telescopic hydraulic cylinder is provided with a soft blade supporting frame, and the soft blade supporting frame is fixedly connected with a soft blade supporting rod at the bottom of the soft blade mechanism through a connecting rod.
The soft blade mechanism comprises arc-shaped soft blades, dovetail grooves and soft blade supporting rods, wherein the arc length of each soft blade is longer than that of each guide rail groove, so that adjacent soft blades are inlaid together and no gap is reserved when the whole annular multi-joint encircling device is used for encircling sisal hemp with different diameters; the dovetail groove is vertically arranged on the soft blade and can be matched with a dovetail groove guide rail on the inner wall of the front arc-shaped part of the joint body; the soft blade supporting rod positioned at the bottom of the soft blade is used for fixedly connecting with the driving end of the vertical telescopic hydraulic cylinder.
The annular multi-joint encircling device is arranged on the supporting arm, when one single-joint arc mechanism in the annular multi-joint encircling device is connected with the supporting arm, the front end of the supporting arm is fixedly connected with the supporting part at the rear side of the middle part of the single-joint arc mechanism, the two ends of the single-joint arc mechanism are respectively fixed with a joint opening and closing motor, the driving shaft of any joint opening and closing motor is fixedly provided with a single-joint arc mechanism adjacent to the single-joint arc mechanism, the other end of the adjacent single-joint arc mechanism is fixedly provided with a corresponding joint opening and closing motor, the driving shaft of the corresponding joint opening and closing motor is fixedly provided with a next single-joint arc mechanism adjacent to the adjacent single-joint arc mechanism, and N single-joint arc mechanisms and N-1 joint opening and closing motors are combined to form the annular multi-joint encircling device.
The annular multi-joint encircling device is arranged on the supporting arm, when two single-joint arc mechanisms in the annular multi-joint encircling device are connected with the supporting arm, the supporting parts at the rear sides of the middle parts of the two single-joint arc mechanisms are respectively hinged with two branch supporting arms of the supporting arm through pin shafts, the front ends of a pair of connecting rods between the two branch supporting arms are respectively hinged with the inner ends of the two single-joint arc mechanisms, the expansion and contraction of the connecting rods can drive the two adjacent single-joint arc mechanisms to open and retract, the end parts at the outer sides of the two single-joint arc mechanisms are respectively fixed with a corresponding joint opening and closing motor, the driving shaft of any joint opening and closing motor is fixedly provided with a single-joint arc mechanism adjacent to the single-joint arc mechanism, the other end of the adjacent single-joint arc mechanism is fixedly provided with a corresponding joint opening and closing motor, the driving shaft of the corresponding joint opening and closing motor is fixedly provided with a next single-joint arc mechanism adjacent to the adjacent single-joint arc mechanism, and N single-joint opening and closing motors are combined to form the annular multi-joint encircling device.
The method for using the efficient nondestructive cutting head for the sisal hemp leaf cutting device adopts a method of firstly vertically upwards cutting and then horizontally cutting to cut n layers of mature sisal hemp leaves at the bottom of sisal hemp, and the method comprises the following steps:
A. stopping when the sisal hemp leaf harvesting device identifies an operation object, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending forwards after touching or being about to touch the sisal hemp plant trunk, starting and closing the corresponding single-joint arc mechanisms by each joint opening and closing motor, and encircling the sisal hemp plant trunk by using the annular multi-joint encircling device;
B. the vertical telescopic hydraulic cylinder starts the retraction driving end to drive the soft blade mechanism to ascend, when the pressure sensor of the vertical telescopic hydraulic cylinder senses certain pressure, a signal is transmitted to the sisal hemp blade cutting device, the sisal hemp blade cutting device drives the supporting arm to be instantaneously lifted to the height of the sisal hemp blade of the n-1 th layer, and the sisal hemp blades of the first layer to the n-1 th layer are completely cut;
C. the vertical telescopic hydraulic cylinder starts to extend out of the driving end to drive the soft blade mechanism to return downwards, the blade of the elastic cutter mechanism is exposed after the soft blade mechanism returns to the original position, and the supporting arm is continuously lifted to the lower surface of the root of the nth layer sisal hemp blade on the top of the blade;
D. the gear motor is started to drive the gear to rotate reciprocally to start a rotary cutting operation mode, and the arc-shaped rack drives the elastic cutter mechanism to rotate reciprocally so that the blade horizontally cuts the nth layer sisal hemp blade.
The detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the vehicle, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending the vehicle after the front side cambered surface of the single-joint arc mechanism connected with the supporting arm contacts the surface of the sisal hemp plant stem, starting and closing the corresponding single-joint arc mechanisms to encircle the sisal hemp plant stem by the annular multi-joint encircling device by each joint opening and closing motor, or pulling the corresponding two single-joint arc mechanisms by the connecting rod to retract the two single-joint arc mechanisms, and then retracting the rest single-joint arc mechanisms under the action of the joint opening and closing motor, so that the annular multi-joint encircling device encircles the sisal hemp plant stem.
When the efficient nondestructive cutting head is provided with a distance sensor, the detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the vehicle, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending the vehicle after the distance sensor senses that the front cambered surface of the single-joint arc mechanism connected with the supporting arm touches or is about to touch the surface of the sisal hemp plant trunk, starting the corresponding single-joint arc mechanisms to retract by the joint opening and closing motors to encircle the sisal hemp plant trunk, or retracting the corresponding two single-joint arc mechanisms by the connecting rods to retract the two single-joint arc mechanisms, and then retracting the rest single-joint arc mechanisms under the action of the joint opening and closing motors to encircle the sisal hemp plant trunk by the annular multi-joint encircling device.
In the working process of the step D, when the elastic cutter mechanism rotates in a reciprocating manner, the roller at the top end of the blade can enter a gap between the n-th layer sisal hemp blades and prop against the lower surface of the root part of the n+1-th layer sisal hemp blade, and at the moment, the blade automatically stretches under the action of the elastic force provided by the telescopic spring, so that the n-th layer sisal hemp blade can be completely cut off on the premise of not damaging the root part of the n+1-th layer sisal hemp blade.
Compared with the prior art, the invention has the following advantages:
the efficient nondestructive cutting head adopts a mode of vertically cutting n-1 layers of sisal hemp leaves upwards firstly and then horizontally cutting the n layers of sisal hemp leaves, so that the mature n layers of sisal hemp leaves at the bottom of sisal hemp can be cut, the root parts of the n+1 layers of sisal hemp leaves can not be damaged in the cutting process, the cutting is rapid and good in effect, the efficient nondestructive cutting head is suitable for the cutting of sisal hemp leaves after the second sisal hemp of tropical hemp crops, the efficient cutting of sisal hemp under the complex growing condition of tropical regions can be realized, the labor cost problem after the second sisal hemp is greatly reduced, the problem of labor shortage is effectively solved, and the working efficiency can reach 15-20 times of that of manpower.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of a high-efficiency nondestructive cutting head of the present invention mounted on a support arm of a sisal hemp leaf cutting device;
FIG. 2 is a schematic plan view of the efficient nondestructive cutting head of the present invention mounted on a support arm of a sisal hemp leaf cutting device;
FIG. 3 is a schematic elevational view of the single joint arc mechanism of the present invention;
FIG. 4 is a schematic top view of a single joint arc mechanism of the present invention;
FIG. 5 is a schematic diagram of the working principle of the elastic cutter mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the elastic cutter mechanism of the present invention;
FIG. 7 is a schematic partial cross-sectional view of the flexible cutter mechanism of the present invention;
FIG. 8 is a schematic view of the soft-blade mechanism of the present invention;
FIG. 9 is a schematic view of the soft blade cutting principle of the present invention;
FIG. 10 is a top view of the root of an n-layer sisal hemp blade;
FIG. 11 is a schematic diagram of the efficient lossless cutting head of the present invention during cutting operations;
FIG. 12 is a schematic view of the cutting effect of the high efficiency non-destructive cutting head of the present invention on sisal hemp leaves.
Wherein: 1-a support arm; 11-branch arms; 2-an annular multi-joint encircling device; 20-a single joint arc mechanism; 21-joint body; 22-gear motor; 23-a vertical telescopic hydraulic cylinder; 24-a guide rail groove; 25-arc racks; 26-a gear; 27-soft blade support; 28-dovetail groove guide rails; 3-a joint opening and closing motor; 4-an elastic cutter mechanism; 41-a roller; 42-blade; 43-tool post; 44-a telescopic spring; 45-welding a spring; 5-a soft blade mechanism; 51—soft blade; 52-a dovetail groove; 53-soft blade support bar; 6, connecting rods; 7, connecting rods; 8-distance sensor.
Description of the embodiments
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1-10: the efficient nondestructive cutting head for the sisal hemp leaf cutting device comprises an annular multi-joint encircling device 2 which is composed of a plurality of single-joint arc mechanisms 20 and a joint opening and closing motor 3 for opening and closing adjacent single-joint arc mechanisms 20, wherein the annular multi-joint encircling device 2 can encircle sisal hemp to be cut from the root of sisal hemp; the elastic cutter mechanism 4 and the soft blade mechanism 5 are arranged on any single-joint arc mechanism 20, the soft blade mechanism 5 can vertically lift relative to the single-joint arc mechanism 20 to cut the n-1 layer of the target layer number n of the sisal hemp blades and the lower part of the n layer from bottom to top, and the blades 42 on the elastic cutter mechanism 4 can cut the rest part of the sisal hemp blades of the n layer without damaging the sisal hemp blades of the n+1 layer. In the efficient nondestructive cutting head, the lower end of an elastic cutter mechanism 4 is fixed on a corresponding single-joint arc mechanism 20, and the elastic cutter mechanism 4 is attached to the outer wall of a soft blade mechanism 5; when the soft blade mechanism 5 is lowered back, the blade 42 of the elastic cutter mechanism 4 can go beyond the soft blade mechanism 5 into the cutting position.
As shown in fig. 1-5, the annular multi-joint encircling device 2 is connected together in a hinged manner by a plurality of single-joint arc mechanisms 20, and the plurality of single-joint arc mechanisms 20 can realize the opening and encircling actions of the multi-joint cutting head through a joint opening and closing motor 3 arranged at a joint. Any single-joint arc mechanism 20 comprises a joint body 21, a gear motor 22 and a vertical telescopic hydraulic cylinder 23, a guide rail groove 24 is formed in the front arc-shaped portion of the joint body 21, an arc-shaped rack 25 capable of driving the elastic cutter mechanism 4 to reciprocate is arranged in the guide rail groove 24, the arc-shaped rack 25 is meshed with a gear 26 arranged in the joint body 21, the gear 26 is arranged on a driving shaft of the gear motor 22, the gear motor 22 is fixed above the rear supporting portion of the joint body 21, and the vertical telescopic hydraulic cylinder 23 capable of lifting the soft cutter mechanism 5 is fixed below the rear supporting portion of the joint body 21. The arc length of the arc-shaped rack 25 of the single-joint arc-shaped mechanism 20 is half of the arc length of the guide rail groove 24, and the arc-shaped rack 25 is driven to reciprocate in the guide rail groove 24 by the reciprocating rotation of the gear motor 22; and the two ends of the arc-shaped rack 25 are respectively fixed with an elastic cutter mechanism 4, the elastic cutter mechanism 4 reciprocates and cuts along with the reciprocating motion of the arc-shaped rack 25, so that sisal hemp blades in the radian range of one guide rail groove 24 are ensured to be completely cut, and the elastic cutter mechanisms 4 on a plurality of single-joint arc-shaped mechanisms 20 can be operated simultaneously to greatly improve the cutting efficiency.
1-2 and 5-7, the elastic cutter mechanism 4 comprises a roller 41, a blade 42, a telescopic spring 44, a cutter rest 43 and a welding spring 45, wherein the roller 41 is positioned at the upper end of the blade 42 and is used for being embedded in a gap between an nth layer sisal blade and an n+1 layer sisal blade; the lower end of the blade 42 is embedded in the tool rest 43 and is positioned on a telescopic spring 44 in the tool rest 43, the elastic movement between the blade 42 of the elastic cutter mechanism 4 and the tool rest 43 is realized through the telescopic spring 44, the telescopic spring 44 is arranged on the inner side of the tool rest 43, when the blade 42 is pressed, the telescopic spring 44 is compressed, the roller 41 at the top end of the blade 42 is tightly attached to the lower surface of the root part of the upper sisal hemp blade, wherein the roller 41 can be made of a smooth round metal material, and the aim of avoiding scratching the root part of the upper sisal hemp blade is fulfilled; the elastic cutter mechanism 4 is connected with the arc-shaped rack 25 by a welding spring 45, the bottom end of the welding spring 45 positioned at the tail end of the cutter rest 43 is welded at the end part of the arc-shaped rack 25 corresponding to the single-joint arc-shaped mechanism 20, the welding angle of the welding spring 45 ensures that the roller 41 is reversed to the inner side, and under the action of the welding spring 45, the roller 41 can be close to the root part of the lower surface of the upper blade as much as possible without damaging the root part of the lower surface of the upper blade; further, in order to fully harvest the sisal hemp blades at the boundary of the corresponding region of each single-joint arc mechanism 20, the elastic cutter mechanism 4 at the end of the current arc-shaped rack 25 is inclined to the inner side and the right side, so that the out-of-range cutting of the blade 42 at the right end of each arc-shaped rack 25 is realized.
As shown in fig. 1-2 and 8, the lifting adjustment of the soft blade mechanism 5 is realized by a vertical telescopic hydraulic cylinder 23, and a small pneumatic cylinder or other driving mechanisms can also be used for lifting the soft blade mechanism 5; the driving end of the vertical telescopic hydraulic cylinder 23 is provided with a soft blade supporting frame 27, and the soft blade supporting frame 27 is fixedly connected with a soft blade supporting rod 53 at the bottom of the soft blade mechanism 5 through a connecting rod 6. The soft blade mechanism 5 comprises arc-shaped soft blades 51, dovetail grooves 52 and soft blade supporting rods 53, the arc length of each soft blade 51 is larger than that of each guide rail groove 24, so that adjacent soft blades 51 are inlaid together and no gap is reserved when the whole annular multi-joint encircling device 2 is used for encircling sisal hemp with different diameters (as shown in fig. 1-2), and the cutting head is ensured to realize complete cutting of sisal hemp blades in a vertical cutting action part; the dovetail groove 52 is vertically arranged on the soft blade 51 and can be matched with the dovetail groove guide rail 28 on the inner wall of the front arc-shaped part of the joint body 21, and the soft blade 51 can vertically lift under the action of the vertical telescopic hydraulic cylinder 23; the soft blade supporting rod 53 positioned at the bottom of the soft blade 51 is used for being fixedly connected with the driving end of the vertical telescopic hydraulic cylinder 23, namely the soft blade mechanism 5 is connected with the soft blade supporting frame 27 and the soft blade supporting rod 53 through the connecting rod 6, wherein the connecting rod 6 is fixedly connected with the soft blade supporting frame 27 and the soft blade supporting rod 53.
As shown in fig. 1-2, the annular multi-joint encircling device 2 is mounted on the support arm 1, when one single-joint arc mechanism 20 in the annular multi-joint encircling device 2 is connected with the support arm 1, the front end of the support arm 1 is fixedly connected with a support part at the rear side of the middle part of the single-joint arc mechanism 20, two ends of the single-joint arc mechanism 20 are respectively fixed with a joint opening and closing motor 3, a single-joint arc mechanism 20 adjacent to the single-joint arc mechanism 20 is fixed on a driving shaft of any joint opening and closing motor 3, the other end of the adjacent single-joint arc mechanism 20 is fixed with a corresponding joint opening and closing motor 3, the driving shaft of the corresponding joint opening and closing motor 3 is fixed with a next single-joint arc mechanism 20 adjacent to the adjacent single-joint arc mechanism 20, and the N single-joint arc mechanisms 20 and N-1 joint opening and closing motors 3 are combined to form the annular multi-joint encircling device 2.
As shown in fig. 1-2, the annular multi-joint encircling device 2 is mounted on the support arm 1, when two single-joint arc mechanisms 20 in the annular multi-joint encircling device 2 are connected with the support arm 1, the support parts at the rear sides of the middle parts of the two single-joint arc mechanisms 20 are respectively hinged with two branch arms 11 of the support arm 1 through pin shafts, the front ends of a pair of connecting rods 7 positioned between the two branch arms 11 are respectively hinged with the inner ends of the two single-joint arc mechanisms 20, the expansion and contraction of the connecting rods 7 can drive the opening and closing of the two adjacent single-joint arc mechanisms 20, the end parts at the outer sides of the two single-joint arc mechanisms 20 are respectively fixed with a corresponding joint opening and closing motor 3, the driving shaft of any joint opening and closing motor 3 is fixed with a single-joint arc mechanism 20 adjacent to the single-joint arc mechanism 20, the other end of the adjacent single-joint arc mechanism 20 is fixed with a corresponding joint opening and closing motor 3, and the driving shaft of the corresponding joint opening and closing motor 3 is fixed with a next single-joint arc mechanism 20 adjacent to the adjacent single-joint arc mechanism 20, and the N single-joint opening and closing motor 3 forms the annular multi-joint encircling device. In this configuration, if the distance sensor 8 is reconfigured, the usage is as follows: when the distance sensor 8 on the cutting head senses that the single-joint arc mechanism 20 connected with the connecting rod 7 contacts the surface of the sisal hemp trunk, the connecting rod 7 is pulled back, so that the single-joint arc mechanism 20 connected with the connecting rod is pulled back, and then the rest single-joint arc mechanisms 20 are pulled back under the action of the joint opening and closing motor 3, so that the sisal hemp trunk is surrounded; when the cutting operation is finished, the connecting rod 7 is pushed forward, so that the single-joint arc mechanism 20 connected with the connecting rod is opened, and then the rest single-joint arc mechanisms 20 are opened under the action of the joint opening and closing motor 3.
Because of the non-vertical growth of the individual sisal hemp, the support arm 1 used in the present invention should be a multi-degree-of-freedom mechanical arm structure to adapt to the gradient of sisal hemp growth, referring to the prior mechanical arm manufacturing technology. In addition, the distance sensor 8 can be configured on the picking head provided by the invention to limit the stop position of the picking head after the picking head extends forwards, at this time, the distance sensor 8 can play a role in prediction, and the forward extending action of the picking head is stopped after the soft blade 51 touches or is about to touch the sisal hemp trunk; it is also possible to use a normal method without the distance sensor 8, and the soft blade 51 stops the forward extending action of the picking head after touching the sisal hemp trunk.
The following is a further description of the use of the high-efficiency, non-destructive cutting head provided by the present invention.
The method for using the efficient nondestructive cutting head for the sisal hemp leaf cutting device adopts a method of firstly vertically upwards cutting and then horizontally cutting to cut n layers of mature sisal hemp leaves at the bottom of sisal hemp, and the method comprises the following steps: A. stopping when the sisal hemp leaf harvesting device identifies an operation object, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending forwards after touching or being about to touch the sisal hemp plant trunk, starting and closing the corresponding single-joint arc-shaped mechanisms 20 by the joint opening and closing motors 3, and encircling the sisal hemp plant trunk by the annular multi-joint encircling device 2; B. the vertical telescopic hydraulic cylinder 23 starts the retraction driving end to drive the soft blade mechanism 5 to ascend, when the pressure sensor of the vertical telescopic hydraulic cylinder 23 senses a certain pressure, a signal is transmitted to the sisal hemp blade cutting device, the sisal hemp blade cutting device drives the supporting arm 1 to be instantaneously lifted to the height of the sisal hemp blade of the n-1 th layer, and the sisal hemp blades of the first layer to the n-1 th layer are completely cut; C. the vertical telescopic hydraulic cylinder 23 starts to extend out of the driving end to drive the soft blade mechanism 5 to return downwards, the soft blade mechanism 5 returns to expose the blade 42 of the elastic cutter mechanism 4, and the supporting arm 1 continues to be lifted to the lower surface of the root of the nth layer sisal hemp blade on the top of the blade 42; D. the gear motor 22 is started to drive the gear 26 to rotate reciprocally to start a rotary cutting operation mode, and the arc-shaped rack 25 drives the elastic cutter mechanism 4 to rotate reciprocally so that the blade 42 horizontally cuts the nth layer sisal hemp blade; when the elastic cutter mechanism 4 rotates reciprocally, the roller 41 at the top end of the blade 42 can enter the gap between the n-layer sisal hemp blades and prop against the lower surface of the root of the n+1-layer sisal hemp blade, and at the moment, the blade 42 automatically stretches under the action of the elastic force provided by the telescopic spring 44, so that the n-layer sisal hemp blade can be completely cut off on the premise of not damaging the root of the n+1-layer sisal hemp blade.
In this usage method, whether there is a slight difference in the distance sensor 8.
When the distance sensor 8 is not arranged on the efficient nondestructive cutting head, the detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the operation, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending forwards after the front side cambered surface of the single-joint arc mechanism 20 connected with the supporting arm 1 touches the surface of the sisal hemp plant trunk, starting the corresponding single-joint arc mechanisms 20 to be retracted by each joint opening and closing motor 3 to encircle the sisal hemp plant trunk, or retracting the corresponding two single-joint arc mechanisms 20 by the connecting rod 7 to retract the two single-joint arc mechanisms 20, and then retracting the rest single-joint arc mechanisms 20 under the action of the joint opening and closing motor 3 to encircle the sisal hemp plant trunk by the annular multi-joint encircling device 2.
When the distance sensor 8 is arranged on the efficient nondestructive cutting head, the detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the operation, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping extending the operation after the distance sensor 8 senses that the front cambered surface of the single-joint arc mechanism 20 connected with the supporting arm 1 touches or is about to touch the surface of the sisal hemp plant trunk, starting the corresponding single-joint arc mechanisms 20 to be folded back by each joint opening and closing motor 3 to encircle the sisal hemp plant trunk, or pulling the corresponding two single-joint arc mechanisms 20 back by the connecting rod 7 to enable the two single-joint arc mechanisms 20 to be folded back, and then enabling the rest single-joint arc mechanisms 20 to be folded back under the action of the joint opening and closing motor 3, so that the annular multi-joint encircling device 2 can encircle the sisal hemp plant trunk.
The method of using the efficient nondestructive cutting head provided by the invention is further described below with reference to fig. 1-2 and 9-12.
A schematic diagram of efficient nondestructive cutting of sisal hemp leaves is shown in FIG. 11, and the specific method is a method of vertical cutting and then horizontal cutting, wherein the operation object is sisal hemp leaves with two cutters and after two cutters, the bottom plant has a certain space feeding allowance, and the case of cutting the lower n layers of mature sisal hemp leaves (the sisal hemp leaves can be regarded as mature when the included angle between the sisal hemp leaves and the plant trunk is greater than or equal to 45 degrees, namely cutting) is taken as an example.
When the sisal hemp blade cutting device recognizes an operation object, stopping the machine, extending the opened cutting head to the lower space of the sisal hemp trunk, when the distance sensor 8 tests that the sisal hemp trunk is a certain distance in front of the sisal hemp trunk, the annular multi-joint encircling device 2 is in a standing horse encircling mode, then the vertical telescopic hydraulic cylinder 23 starts to lift the soft blade 51, when the pressure sensor on the vertical telescopic hydraulic cylinder 23 senses a certain pressure, the supporting arm 1 is instantaneously lifted to the height of the sisal hemp blade of the n-1 layer, the number of lifting layers is determined, as shown in figure 9, according to the shape characteristics of the root part of the sisal hemp blade, a certain space allowance u exists between adjacent sisal hemp blades on one spiral line (when the sisal hemp blade is not tightly adhered to the surface of the sisal hemp trunk, when the soft blade 51 is tightly attached to the surface of the plant stem, the cutting force is gradually increased due to the gradual increase of the cutting surface, and the cutting force is rapidly increased after being temporarily reduced due to the existence of the space allowance u when the soft blade 51 is cut to a half position, at the moment, the soft blade simultaneously cuts the blades of the 1 st horizontal layer and the 2 nd horizontal layer, such a stress process is recorded as a 1-time stress change process, and similarly, the stress process when the 2 nd horizontal layer is cut to the 3 rd horizontal layer is recorded as a 2-time stress process, so that the n+1-layer blade is not damaged, and the soft blade 51 is immediately lowered after the n-1-time stress process; then the support arm 1 is lifted to a height H (the H value is required to enable the lower surface of the root of the top n-th layer sisal hemp blade of the blade 42), at this time, a rotary cutting operation mode is started, as shown in the top view of the root of the n-th layer sisal hemp blade in fig. 10, the n-th layer is provided with 13 blades which are circumferentially arranged, and the size d enables the roller 41 at the top end of the blade 42 to enter a gap with the size d and support the lower surface of the root of the n+1 layer sisal hemp blade when the elastic cutter mechanism 4 rotates, at this time, the blade 42 automatically pops out and stretches under the elastic force of the telescopic spring 44, the n-th layer sisal hemp blade can be completely cut off on the premise that the root of the n+1 layer sisal hemp blade is not damaged, and the effect after cutting is shown in fig. 12.
The efficient nondestructive cutting head adopts a mode of vertically cutting n-1 layers of sisal hemp leaves upwards firstly and then horizontally cutting the n layers of sisal hemp leaves, so that the mature n layers of sisal hemp leaves at the bottom of sisal hemp can be cut, the root parts of the n+1 layers of sisal hemp leaves can not be damaged in the cutting process, the cutting is rapid and good in effect, the efficient nondestructive cutting head is suitable for the cutting of sisal hemp leaves after the second sisal hemp of tropical hemp crops, the efficient cutting of sisal hemp under the complex growing condition of tropical regions can be realized, the labor cost problem after the second sisal hemp is greatly reduced, the problem of labor shortage is effectively solved, and the working efficiency can reach 15-20 times of that of manpower.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by the above embodiments, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (11)
1. A high-efficient harmless cutting head that adopts for sisal hemp blade adopts cutting device which characterized in that: the cutting head comprises an annular multi-joint encircling device (2) which is composed of a plurality of single-joint arc-shaped mechanisms (20) and joint opening and closing motors (3) for opening and closing the adjacent single-joint arc-shaped mechanisms (20), wherein the annular multi-joint encircling device (2) can encircle sisal hemp to be cut from the root of the sisal hemp; an elastic cutter mechanism (4) and a soft blade mechanism (5) are arranged on any single-joint arc mechanism (20), the soft blade mechanism (5) can vertically lift relative to the single-joint arc mechanism (20) to cut the n-1 layer and the lower part of the n layer of the target layer number n of the sisal hemp blades from bottom to top, and the blades (42) on the elastic cutter mechanism (4) can cut the rest part of the n layer of sisal hemp blades without damaging the n+1 layer of sisal hemp blades; any single-joint arc mechanism (20) comprises a joint body (21), a gear motor (22) and a vertical telescopic hydraulic cylinder (23), a guide rail groove (24) is formed in the front arc-shaped part of the joint body (21), an arc-shaped rack (25) capable of driving the elastic cutter mechanism (4) to reciprocate is arranged in the guide rail groove (24), the arc-shaped rack (25) is meshed with a gear (26) arranged in the joint body (21), the gear (26) is arranged on a driving shaft of the gear motor (22), the gear motor (22) is fixed above a rear supporting part of the joint body (21), and the vertical telescopic hydraulic cylinder (23) capable of lifting the soft cutter mechanism (5) is fixed below the rear supporting part of the joint body (21); the elastic cutter mechanism (4) comprises a roller (41), a blade (42), a telescopic spring (44), a cutter rest (43) and a welding spring (45), wherein the roller (41) is positioned at the upper end of the blade (42) and is used for being embedded into a gap between an nth layer sisal hemp blade and an n+1th layer sisal hemp blade, the lower end of the blade (42) is embedded into the cutter rest (43) and is positioned on the telescopic spring (44) in the cutter rest (43), and the bottom end of the welding spring (45) positioned at the tail end of the cutter rest (43) is welded at the end part of the arc-shaped rack (25) on the corresponding single-joint arc-shaped mechanism (20); the soft blade mechanism (5) comprises arc-shaped soft blades (51), dovetail grooves (52) and soft blade supporting rods (53), and the arc length of each soft blade (51) is larger than that of each guide rail groove (24), so that adjacent soft blades (51) are inlaid together and no gap is reserved when the whole annular multi-joint encircling device (2) is used for encircling sisal hemp with different diameters; the dovetail groove (52) is vertically arranged on the soft blade (51) and can be matched with the dovetail groove guide rail (28) on the inner wall of the front arc-shaped part of the joint body (21); the soft blade supporting rod (53) positioned at the bottom of the soft blade (51) is used for being fixedly connected with the driving end of the vertical telescopic hydraulic cylinder (23).
2. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the lower end of the elastic cutter mechanism (4) is fixed on a corresponding single-joint arc-shaped mechanism (20), and the elastic cutter mechanism (4) is attached to the outer wall of the soft blade mechanism (5); when the soft blade mechanism (5) descends to return, the blade (42) of the elastic cutter mechanism (4) can go beyond the soft blade mechanism (5) to enter a cutting position.
3. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the arc length of the arc-shaped rack (25) is half of the arc length of the guide rail groove (24); and two ends of the arc-shaped rack (25) are respectively fixed with an elastic cutter mechanism (4).
4. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the welding angle of the welding spring (45) is such that the roller (41) is inclined to the right by the inner soft blade mechanism (5).
5. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the driving end of the vertical telescopic hydraulic cylinder (23) is provided with a soft blade supporting frame (27), and the soft blade supporting frame (27) is fixedly connected with a soft blade supporting rod (53) at the bottom of the soft blade mechanism (5) through a connecting rod (6).
6. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the annular multi-joint encircling device (2) is arranged on a supporting arm (1), when one single-joint arc mechanism (20) in the annular multi-joint encircling device (2) is connected with the supporting arm (1), the front end of the supporting arm (1) is fixedly connected with a supporting part at the rear side of the middle part of the single-joint arc mechanism (20), two ends of the single-joint arc mechanism (20) are respectively fixed with a joint opening and closing motor (3) and a driving shaft of any joint opening and closing motor (3) is fixedly provided with a single-joint arc mechanism (20) adjacent to the single-joint arc mechanism (20), the other end of the adjacent single-joint arc mechanism (20) is fixedly provided with a corresponding joint opening and closing motor (3) and the driving shaft of the corresponding joint opening and closing motor (3), and N single-joint arc mechanisms (20) and N-1 joint opening and closing motors (3) are combined to form the annular multi-joint encircling device (2).
7. The efficient and nondestructive cutting head for sisal hemp leaf cutting apparatus as defined in claim 1 wherein: the annular multi-joint encircling device (2) is arranged on a supporting arm (1), when two single-joint arc mechanisms (20) in the annular multi-joint encircling device (2) are connected with the supporting arm (1), the supporting parts at the rear sides of the middle parts of the two single-joint arc mechanisms (20) are respectively hinged with two branch arms (11) of the supporting arm (1) through pin shafts, the front ends of a pair of connecting rods (7) positioned between the two branch arms (11) are respectively hinged with the end parts of the inner sides of the two single-joint arc mechanisms (20) and the expansion and contraction of the connecting rods (7) can drive the opening and closing of two adjacent single-joint arc mechanisms (20), the end parts of the outer sides of the two single-joint arc mechanisms (20) are respectively fixed with corresponding joint opening and closing motors (3) and the driving shaft of any one single-joint arc mechanism (3), the other end of the adjacent single-joint arc mechanism (20) is fixedly provided with a corresponding joint opening and closing motor (3) and the driving shaft of the corresponding single-joint arc mechanism (20), and the adjacent single-joint arc mechanism (2) are fixed with the corresponding single-joint arc mechanism (20), and the annular multi-joint encircling device (2) is formed.
8. A method of using the efficient and nondestructive cutting head for a sisal hemp leaf cutting device as claimed in any one of claims 1 to 7 wherein: the efficient nondestructive cutting head adopts a method of cutting vertically upwards and then horizontally to cut n layers of mature sisal hemp leaves at the bottom of sisal hemp, and the using method comprises the following steps:
A. stopping when the sisal hemp leaf harvesting device identifies an operation object, extending an opened efficient nondestructive harvesting head to the lower space of the sisal hemp plant, stopping extending forwards after touching or being about to touch the sisal hemp plant trunk, starting each joint opening and closing motor (3) to retract each corresponding single joint arc-shaped mechanism (20) to enclose an annular multi-joint encircling device (2) to encircle the sisal hemp plant trunk;
B. the vertical telescopic hydraulic cylinder (23) starts the retraction driving end to drive the soft blade mechanism (5) to ascend, when the pressure sensor of the vertical telescopic hydraulic cylinder (23) senses a certain pressure, a signal is transmitted to the sisal hemp blade cutting device, the sisal hemp blade cutting device drives the supporting arm (1) to be lifted to the height of the sisal hemp blade of the n-1 th layer instantly, and the sisal hemp blades of the first layer to the n-1 th layer are completely cut;
C. the vertical telescopic hydraulic cylinder (23) starts to extend out of the driving end to drive the soft blade mechanism (5) to return downwards, the soft blade mechanism (5) returns to the original position and then exposes the blade (42) of the elastic cutter mechanism (4), and the supporting arm (1) is continuously lifted to the lower surface of the root of the nth layer sisal hemp blade on the top of the blade (42);
D. the gear motor (22) is started to drive the gear (26) to rotate in a reciprocating mode to start a rotary cutting operation mode, and the arc-shaped rack (25) drives the elastic cutter mechanism (4) to rotate in a reciprocating mode so that the blade (42) horizontally cuts the nth layer sisal hemp blade.
9. The method of using a high efficiency non-destructive cutting head for a sisal hemp leaf cutting device according to claim 8, wherein: the detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the operation, stretching an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, stopping stretching the operation after the front side cambered surface of a single-joint arc mechanism (20) connected with a supporting arm (1) touches the surface of the sisal hemp plant trunk, starting a closing-back corresponding single-joint arc mechanism (20) by each joint opening-closing motor (3) to encircle the sisal hemp plant trunk to form an annular multi-joint encircling device (2), or pulling back corresponding two single-joint arc mechanisms (20) by a connecting rod (7) to enable the two single-joint arc mechanisms (20) to be closed back, and then enabling the rest single-joint arc mechanisms (20) to be closed back under the action of the joint opening-closing motor (3), so that encircling of the sisal hemp plant trunk by the annular multi-joint encircling device (2) is realized.
10. The method of using a high efficiency non-destructive cutting head for a sisal hemp leaf cutting device according to claim 8, wherein: when the distance sensor (8) is arranged on the efficient nondestructive cutting head, the detailed process of the step A is as follows: when the sisal hemp leaf harvesting device identifies an operation object, stopping the vehicle, extending an opened efficient nondestructive harvesting head to the space below the sisal hemp plant, and when a distance sensor (8) senses that the front side cambered surface of a single-joint arc mechanism (20) connected with a supporting arm (1) touches or is about to touch the surface of the sisal hemp plant trunk, stopping extending forwards, starting each corresponding single-joint arc mechanism (20) to retract to encircle the sisal hemp plant trunk by each joint opening and closing motor (3), or retracting the corresponding two single-joint arc mechanisms (20) by a connecting rod (7) to retract the two single-joint arc mechanisms (20), and then retracting the other single-joint arc mechanisms (20) under the action of the joint opening and closing motor (3), so that the annular multi-joint encircling device (2) encircles the sisal hemp plant trunk.
11. The method of using a high efficiency non-destructive cutting head for a sisal hemp leaf cutting device according to claim 8, wherein: in the working process of the step D, when the elastic cutter mechanism (4) rotates in a reciprocating manner, the roller (41) at the top end of the blade (42) can enter a gap between the n-th layer sisal hemp blades and prop against the lower surface of the root of the n+1-th layer sisal hemp blade, and at the moment, the blade (42) automatically stretches under the action of the elastic force provided by the telescopic spring (44) so as to completely cut off the n-th layer sisal hemp blade on the premise of not damaging the root of the n+1-th layer sisal hemp blade.
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| 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 |
| DE102017214290A1 (en) * | 2017-08-16 | 2019-02-21 | Freddy Elsen | Root ball undercutting and lifting device |
| CN107926278B (en) * | 2017-11-13 | 2019-06-14 | 淮安智创自动化设备有限公司 | The harvester of sisal leaves |
| CN107950184B (en) * | 2017-11-16 | 2023-08-18 | 农业部南京农业机械化研究所 | Sisal hemp harvester |
| CN108401838B (en) * | 2018-03-16 | 2020-07-28 | 重庆大学 | Automatic rubber tapping robot |
| 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 |
| CN108770486B (en) * | 2018-08-03 | 2023-10-27 | 浙江机电职业技术学院 | Pineapple picking machine and picking method thereof |
| CN211090703U (en) * | 2019-08-14 | 2020-07-28 | 南京林业大学 | Efficient lossless harvesting head for sisal hemp blade harvesting device |
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