CN115735543A - Surrounding type cassia bark picking machine and picking method thereof - Google Patents
Surrounding type cassia bark picking machine and picking method thereof Download PDFInfo
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- CN115735543A CN115735543A CN202211511924.9A CN202211511924A CN115735543A CN 115735543 A CN115735543 A CN 115735543A CN 202211511924 A CN202211511924 A CN 202211511924A CN 115735543 A CN115735543 A CN 115735543A
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Abstract
The invention discloses an encircling type cinnamon picking machine and a picking method, wherein the device comprises a tree climbing wheel mechanism which is positioned at the bottommost part of the device and is used for realizing clamping with a cinnamon trunk to be picked and moving upwards and downwards when the cinnamon trunk is on a cinnamon vertical rod; the tree climbing wheel mechanism comprises a first annular track structure and a second annular track structure, wherein the first annular track structure is arranged on the upper portion of the tree climbing wheel mechanism in the horizontal direction, and the second annular track structure is arranged on the upper portion of the first annular track structure in the horizontal direction. The invention integrates cassia bark collection, cassia tree pesticide spraying and cassia tree preservative film wrapping.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an encircling type cassia bark picking machine and a picking method thereof.
Background
(1) The existing cinnamon picking technology in the market is mainly manual picking, the time consumed by manual picking is long, and the picking efficiency is low.
(2) The prior picking technology needs to cut down the cassia tree, destroy the original cassia (traditional Chinese medicine) forest, and needs a longer time for regeneration of the cassia (traditional Chinese medicine) forest.
(3) The traditional machine for picking the cassia bark is heavy, inconvenient to transport and carry, large in power consumption and incapable of realizing economic and environmental protection.
Disclosure of Invention
Aiming at the technical problems, the invention provides an encircling type cinnamon picking machine and a picking method thereof.
In order to achieve the technical purpose, the invention adopts the following technical means:
an encircling type cinnamon picking machine comprises:
the tree climbing wheel mechanism is positioned at the bottommost part of the device, is used for clamping the to-be-picked cinnamon trunks and can move up and down along the cinnamon vertical rods;
the first annular rail structure is arranged at the upper part of the tree climbing wheel mechanism along the horizontal direction and is fixedly connected with the tree climbing wheel mechanism through a first support, a first annular rail groove is formed in the inner side of the first annular rail structure, and a first horizontal cutting mechanism is arranged in the first annular rail groove and can perform annular cutting motion in the horizontal direction in the first annular rail groove;
the second annular track structure is arranged at the upper part of the first annular track structure along the horizontal direction and is connected with the first annular track structure through a first vertical telescopic unit, a second annular track groove is formed in the inner side of the second annular track structure, and a second horizontal cutting mechanism is arranged in the second annular track groove and can perform annular cutting motion in the horizontal direction in the second annular track groove;
a longitudinal cutting mechanism disposed on the second endless track structure;
the stripping blade assembly is arranged between the first horizontal cutting mechanism and the second horizontal cutting mechanism and is used for stripping the cinnamon;
tectorial membrane mechanism is located the top most of device for carry out tectorial membrane protection to the trunk part of having picked the cinnamon, include:
the third annular track structure is arranged at the upper part of the second annular track structure along the horizontal direction, is fixedly connected with the second annular track structure through a third annular track structure supporting plate, and is connected with the film covering assembly through a film covering clamping wheel assembly;
the liquid medicine storage tank is arranged between the second annular track structure and the third annular track structure;
the third annular track is a hollow pipeline, a medicine delivery hose is arranged in the hollow pipeline, a medicine spraying head is arranged on the inner side of the pipe wall of the hollow pipeline, and the medicine spraying head is communicated with a water outlet of the medicine delivery hose; a pump is arranged in the liquid medicine storage tank, and the water outlet of the pump is connected with the water inlet of the medicine conveying hose.
The tree climbing wheel mechanism comprises:
the tree climbing device comprises two tree climbing clamping wheels which are symmetrically arranged on the left and the right, wherein each tree climbing clamping wheel is connected with a first motor for climbing trees through a tree climbing clamping wheel shaft;
a clamping wheel shaft sleeve is rotatably and coaxially sleeved outside the tree climbing clamping wheel shaft;
the first bidirectional linear telescopic unit is transversely arranged between the two tree climbing clamping wheels, and two telescopic shafts of the first bidirectional linear telescopic unit are fixedly connected with the shaft sleeves of the two clamping wheels through connecting frames respectively;
the tree climbing auxiliary wheel comprises an auxiliary wheel frame, wherein an auxiliary wheel body is arranged on the auxiliary wheel frame through an auxiliary wheel shaft;
and the first linear telescopic unit is fixed on the first bidirectional linear telescopic unit, and a telescopic shaft of the first linear telescopic unit is connected with the auxiliary wheel frame.
The first endless track structure comprises:
the two telescopic ends of the second bidirectional linear telescopic unit are respectively connected with a first semi-annular track unit, the two first semi-annular track units are arranged in bilateral symmetry, and the first annular track structure can be formed by the telescopic action of the second bidirectional linear telescopic unit;
the second endless track structure comprises:
two second semi-annular track units are symmetrically arranged left and right, and the second two-way linear telescopic unit can be combined into a second annular track structure under the telescopic action of the third two-way linear telescopic unit;
the third endless track structure comprises:
and the two third semi-annular track units are arranged in a bilateral symmetry manner, and the third bidirectional linear telescopic units can be combined into a third annular track structure under the expansion and contraction of the third bidirectional linear telescopic units.
First horizontal cutting mechanism and second horizontal cutting mechanism structure are the same, all include:
a driving shaft of the second motor is in transmission connection with an input shaft supported at one side through a coupler;
an input bevel gear connected to the input shaft supported at one side;
the first output bevel gear is meshed with the input bevel gear, an output shaft is connected to the first output bevel gear, and one end of the output shaft is connected with a traveling wheel;
the second output bevel gear is connected to the input shaft supported on the single side and meshed with the first output bevel gear, and the second output bevel gear is arranged in parallel with the first output bevel gear;
the first cutting blade is connected to one end, far away from the second motor, of the input shaft supported on one side;
the walking wheel is arranged in the annular track groove and can move relative to the annular track.
The longitudinal cutting mechanism comprises:
the first connecting base is fixedly connected with the second annular track structure;
a horizontal rotation unit disposed on the first connection base;
the second linear telescopic unit is fixedly connected with the horizontal rotating unit, a third motor is connected to a telescopic shaft of the second linear telescopic unit, a second cutting blade is installed on a driving shaft of the third motor, and a cutting plane where the second cutting blade is located is perpendicular to the horizontal plane
Adjusting a horizontal angle of the second cutting blade by the horizontal rotation unit;
and adjusting the distance between the second cutting blade and the bark trunk to be cut through the second linear telescopic unit.
The film covering assembly comprises:
the bottom of the second connecting base is connected with the third annular track structure through a film covering clamping wheel;
the fourth motor is arranged on the second connecting base, and a driving shaft of the fourth motor penetrates through the second connecting base to be in driving connection with the film covering clamping wheel;
and the bottom of the vertical support is arranged on the second connecting base, the upper end of the vertical support is connected with a third linear telescopic unit, and a telescopic shaft of the third linear telescopic unit is connected with a film laminating machine.
The stripping blade assembly comprises:
the upper end of the second vertical telescopic unit is fixedly connected with a gear box on the second horizontal cutting mechanism through a first connecting rod; the lower end of the first horizontal cutting mechanism is fixedly connected with a gear box on the first horizontal cutting mechanism through a second connecting rod;
and a stripping blade is fixed on the side wall of the second vertical telescopic unit.
The first vertical telescopic unit comprises:
the linear motor is fixed on the first annular track structure, and the telescopic rod end of the linear motor is connected with the second annular track structure;
and the two telescopic rods are connected between the first annular track structure and the second annular track structure and are arranged in a bilateral symmetry mode by taking the telescopic rods of the linear motor as the center.
The invention further discloses a picking method based on the encircling type cinnamon picking machine, which comprises the following steps:
s1, clamping the tree to be picked at the bottom of a trunk of a cinnamon tree through a tree climbing wheel structure, and sleeving a first annular track structure, a second annular track structure and a third annular track structure outside the trunk of the cinnamon tree to be picked;
s2, driving the whole device to climb upwards from the bottom of the tree pole through the tree climbing wheel mechanism; the longitudinal cutting of the cinnamon trees to be picked is completed through the longitudinal cutting mechanism along with the upward climbing of the machine;
s4, after climbing for a designated height, completing longitudinal cutting, and retracting the longitudinal cutting blade;
s5, adjusting the distance between the first annular track structure and the second annular track structure through the first vertical telescopic unit;
s6, performing circular cutting on the trunk of the cinnamon tree to be picked through the first annular cutting mechanism and the second annular cutting mechanism, and meanwhile, inserting a stripping blade arranged on a stripping blade assembly between the two horizontal cutting mechanisms into a slit which is cut longitudinally, and stripping the cut cinnamon from the trunk of the cinnamon tree to be picked;
s7, driving the whole device to descend through a tree climbing wheel mechanism;
s8, in the descending process, spraying the liquid medicine to the trunk with the peeled cinnamon part from a pipeline in the third annular track structure and the spraying nozzle through the liquid medicine storage box; meanwhile, the tree trunks sprayed with the liquid medicine are coated with the film in a rotating way through a film coating mechanism positioned at the uppermost part of the device;
s9, the machine reaches the bottom of a trunk of a cinnamon tree to be picked, and meanwhile, the tree climbing wheel structure, the first annular track structure, the second annular track structure and the third annular track structure are loosened and taken down from the trunk of the cinnamon tree which has been picked.
Has the advantages that:
compared with the prior picking method and device, the invention has the following technical advantages:
firstly, the cinnamon picking machine can pick cinnamon according to different ages and sizes of cinnamon trees.
The automatic Chinese cinnamon picking machine realizes the automation of Chinese cinnamon picking, and the regeneration of Chinese cinnamon after the Chinese cinnamon is picked is realized through the pesticide spraying mechanism and the film laminating mechanism.
Thirdly, the invention realizes the annular cutting of the cinnamon on the tree through the annular cutting mechanism of the annular track, realizes the longitudinal cutting of the cinnamon through the longitudinal cantilever, and strips the cinnamon through the stripping blade.
The invention has small volume and convenient carrying.
Drawings
Fig. 1 is a schematic perspective view of an encircling type cassia bark picking machine according to the present invention;
wherein, 4, the third bidirectional linear expansion unit; 7 a first motor output shaft; 8, a third bidirectional linear telescopic rod; 9 a second endless track structure; 11 a first endless track structure; 18 a liquid medicine storage tank; 20 a third endless track structure support plate; 26 a film covering machine; 36 a gear box on the first horizontal cutting mechanism; 41, climbing tree clamping wheels;
FIG. 2 is a rear view of the encircling type cassia bark picking machine of the invention;
wherein, 1, a main body bracket; 2, a linear motor; 3, a linear motor telescopic rod; 5, telescoping loop bars; 38 a third motor on the first annular cutting structure;
FIG. 3 is a side view of the tree climbing wheel mechanism of the encircling type cinnamon picking machine of the present invention;
wherein 6, the hinge mechanism; 47 bolt connection mechanisms; 55 stripping blade telescopic rod mechanism; 56 lower peel blade;
FIG. 4 is a front view of the encircling type cassia bark picking machine of the invention;
wherein, 17 the longitudinal cutting mechanism; 19 a third endless track structure;
FIG. 5 is a schematic structural view of a first horizontal cutting mechanism and a second horizontal cutting mechanism;
wherein 30 first horizontal cutter blades; 31 travelling wheels; 32 a peel blade connecting bar; 40 a blade guard on the first horizontal cutting mechanism; a stripping blade at 57;
FIG. 6 is a schematic view of the longitudinal cutting mechanism;
wherein 12 is connected with the base; 13 longitudinal cutter rotating mechanism; (5-15, 5-16) hydraulic telescopic rods of the longitudinal cutting machine; 17 a longitudinal cutting motor; 29 longitudinally cutting the motor output shaft; 30 longitudinal cutting blades; 40 longitudinal cutting blade protection covers; 53, screw connection;
FIG. 7 is a schematic structural view of a film covering mechanism;
wherein, 21 the film covering machine base; 22 laminating machine clamping wheels; 23, vertically supporting; (6-24, 6-25) hydraulic telescopic rods of the laminating machine; 28 laminating machine cylinders; 45 pin connection mechanisms; 51 screw connection mechanism; 54 laminating machine power motor;
FIG. 8 is a schematic view of the tree climbing wheel mechanism.
Detailed Description
The technical scheme of the invention is further described in detail by combining the drawings and the specific embodiments in the specification.
Example 1
As shown in fig. 1, an encircling type cassia bark picking machine comprises:
the tree climbing wheel mechanism is positioned at the bottommost part of the device and is used for clamping the to-be-picked cassia bark trunk and can move up and down along the vertical rod of the cassia bark;
the first annular track structure 11 is arranged at the upper part of the tree climbing wheel mechanism along the horizontal direction and is fixedly connected with the tree climbing wheel mechanism through a first support, a first annular track groove is formed in the inner side of the first annular track structure 11, and a first horizontal cutting mechanism is arranged in the first annular track groove and can perform annular cutting movement in the horizontal direction in the first annular track groove;
the second annular track structure 9 is arranged at the upper part of the first annular track structure 11 along the horizontal direction and is connected with the first annular track structure through a first vertical telescopic unit, a second annular track groove is formed in the inner side of the second annular track structure, and a second horizontal cutting mechanism is arranged in the second annular track groove and can perform annular cutting motion in the horizontal direction in the second annular track groove;
a longitudinal cutting mechanism arranged on said second endless track structure 9;
a longitudinal cutting mechanism disposed on the second endless track structure;
the stripping blade assembly is arranged between the first horizontal cutting mechanism and the second horizontal cutting mechanism and is used for stripping the cinnamon;
the bark peeling machine comprises a tree climbing wheel mechanism, a longitudinal cutting mechanism, a first horizontal cutting mechanism, a second horizontal cutting mechanism, a stripping blade, a second horizontal cutting mechanism and a third horizontal cutting mechanism, wherein the tree climbing wheel mechanism climbs upwards from the bottom of a tree trunk, the longitudinal cutting mechanism cuts bark longitudinally, after the bark is lifted to a specified height, the first horizontal cutting mechanism and the second horizontal cutting mechanism realize circular motion through an annular track structure, girdling is carried out on a cinnamon tree, and the stripping blade is inserted into a longitudinally cut seam along with the bark peeling mechanism to peel cinnamon.
Example 2
Further, as a preferred embodiment of the tree climbing wheel assembly in embodiment 1 of the present invention, the tree climbing wheel mechanism includes:
the tree climbing device comprises two tree climbing clamping wheels which are symmetrically arranged on the left and the right, wherein each tree climbing clamping wheel is connected with a first motor for climbing trees through a tree climbing clamping wheel shaft;
a clamping wheel shaft sleeve is rotatably and coaxially sleeved outside the tree climbing clamping wheel shaft;
the first bidirectional hydraulic pump is transversely arranged between the two tree climbing clamping wheels, and two piston rods of the first bidirectional hydraulic pump are respectively and fixedly connected with the shaft sleeves of the two clamping wheels through connecting frames;
the auxiliary wheel for climbing trees comprises an auxiliary wheel frame, wherein an auxiliary wheel body is arranged on the auxiliary wheel frame through an auxiliary wheel shaft;
and the first one-way hydraulic pump is fixed on the first bidirectional linear telescopic unit, and a piston rod of the first one-way hydraulic pump is connected with the auxiliary wheel frame.
The clamping power is provided through the first bidirectional hydraulic pump, and sufficient friction force is provided for climbing trees. Meanwhile, the telescopic type cinnamon bark pruning machine can be stretched and contracted so as to adapt to different ages and different stout cinnamon bark trees. The tree climbing clamping wheels are driven by respective driving motors to move up and down along the cinnamon tree stems. The tree climbing auxiliary wheel plays a role in assisting clamping and supporting.
When the cassia bark picking machine moves upwards, the longitudinal cutting machine rotates to be vertical to the longitudinal direction of the tree through the rotatable cantilever, and the picking machine moves up and down to cut the tree longitudinally.
Example 3
Further, as a preferred embodiment of the first endless track structure in embodiment 1 of the present invention, the first endless track structure includes:
the two piston rods of the second bidirectional hydraulic pump are respectively connected with a first semi-annular track unit, the two first semi-annular track units are arranged in bilateral symmetry, and the first annular track structure can be combined under the expansion and contraction of the second bidirectional hydraulic pump;
the second endless track structure comprises:
a second semi-annular track unit is respectively connected to two piston rods of the third bidirectional hydraulic pump, the two second semi-annular track units are arranged in bilateral symmetry, and the second semi-annular track units can be combined into a second annular track structure under the expansion of the third bidirectional linear expansion unit;
the third endless track structure comprises:
and the two third semi-annular track units are arranged in bilateral symmetry and are respectively fixedly connected with the second annular track structure 9 through a third annular track structure supporting plate 20, and the third annular track structure can be combined under the expansion and contraction of the third bidirectional hydraulic pump.
Example 4
As shown in fig. 5, further, as a preferred embodiment of the horizontal cutting mechanism in embodiment 1 of the present invention, the first horizontal cutting mechanism and the second horizontal cutting mechanism have the same structure, and both of them include:
a driving shaft of the second motor is in transmission connection with an input shaft supported at one side through a coupler;
an input bevel gear connected to the input shaft supported at one side;
the first output bevel gear is meshed with the input bevel gear, an output shaft is connected to the first output bevel gear, and one end of the output shaft is connected with a traveling wheel;
the second output bevel gear is connected to the input shaft supported at one side and meshed with the first output bevel gear, and the second output bevel gear is arranged in parallel with the first output bevel gear;
the first cutting blade is connected to one end, away from the second motor, of the input shaft supported on one side;
the walking wheel is arranged in the annular track groove and can move relative to the annular track.
The stripping blade assembly comprises:
the upper end of the second vertical telescopic unit is fixedly connected with a gear box on the second horizontal cutting mechanism through a first connecting rod; the lower end of the first horizontal cutting mechanism is fixedly connected with a gear box on the first horizontal cutting mechanism through a second connecting rod;
and a stripping blade is fixed on the side wall of the second vertical telescopic unit.
As shown in fig. 6, further, as a preferred embodiment of the longitudinal cutting mechanism in embodiment 1 of the present invention, the longitudinal cutting mechanism includes:
the first connecting base is fixedly connected with the second annular track structure;
a horizontal rotation unit disposed on the first connection base;
the second linear telescopic unit is fixedly connected with the horizontal rotating unit, a third motor is connected to a telescopic shaft of the second linear telescopic unit, a second cutting blade is installed on a driving shaft of the third motor, and a cutting plane where the second cutting blade is located is perpendicular to the horizontal plane.
Example 5
Further, as a preferable aspect of embodiment 1 of the present invention, the peeling blade assembly comprises:
the upper end of the second vertical telescopic unit is fixedly connected with a gear box on the second horizontal cutting mechanism through a first connecting rod; the lower end of the first horizontal cutting mechanism is fixedly connected with a gear box on the first horizontal cutting mechanism through a second connecting rod;
and a stripping blade is fixed on the side wall of the second vertical telescopic unit.
Example 6
Further, as a preferable aspect of embodiment 1 of the present invention, the present invention further includes a film covering mechanism for protecting the trunk portion of the picked cinnamon, including:
the third annular track structure 19 is arranged at the upper part of the second annular track structure 9 along the horizontal direction and is fixedly connected with the second annular track structure 9 through a third annular track structure supporting plate 20, and the third annular track structure 19 is connected with the film covering assembly through a film covering clamping wheel assembly;
spout the medicine subassembly, set up on the tectorial membrane mechanism for carry out the liquid medicine to the exposed trunk after picking the chinese cinnamon and spray, specifically include: the liquid medicine storage tank is arranged between the second annular track structure and the third annular track structure, a pump is arranged in the liquid medicine storage tank, and a water outlet of the pump is connected with a water inlet of the medicine conveying hose;
the third annular track is a hollow pipeline, a medicine delivery hose is arranged in the hollow pipeline, a medicine spraying head is arranged on the inner side of the pipe wall of the hollow pipeline, and the medicine spraying head is communicated with a water outlet of the medicine delivery hose.
The picking method of the embracing type cassia bark picking machine in the embodiment 6 of the invention comprises the following steps:
s1, clamping the tree to be picked at the bottom of a trunk of a cinnamon tree through a tree climbing wheel structure, and sleeving a first annular track structure, a second annular track structure and a third annular track structure outside the trunk of the cinnamon tree to be picked;
s2, driving the whole device to climb upwards from the bottom of the tree pole through the tree climbing wheel mechanism; the longitudinal cutting of the cinnamon tree to be picked is completed through the longitudinal cutting mechanism along with the upward climbing of the machine;
s4, after climbing for a designated height, completing longitudinal cutting, and retracting the longitudinal cutting blade;
s5, adjusting the distance between the first annular track structure and the second annular track structure through the first vertical telescopic unit;
s6, performing circular cutting on the trunk of the cinnamon tree to be picked through the first annular cutting mechanism and the second annular cutting mechanism, and simultaneously inserting a stripping blade arranged on a stripping blade assembly between the two horizontal cutting mechanisms into a longitudinally cut seam, so as to strip the cut cinnamon from the trunk of the cinnamon tree to be picked;
s7, driving the whole device to descend through a tree climbing wheel mechanism;
s8, in the descending process, spraying the liquid medicine to the trunk with the cinnamon bark peeled off through a pipeline in a third annular track structure and a spraying head through a liquid medicine storage box; meanwhile, the tree trunks sprayed with the liquid medicine are coated with the film through a film coating mechanism positioned at the uppermost part of the device;
s9, the machine reaches the bottom of a trunk of the cinnamon tree to be picked, and meanwhile, the tree climbing wheel structure, the first annular rail structure, the second annular rail structure and the third annular rail structure are loosened and taken down from the trunk of the cinnamon tree which has been picked.
Claims (9)
1. An encircling type cassia bark picking machine is characterized by comprising:
the tree climbing wheel mechanism is positioned at the bottommost part of the device, is used for clamping the to-be-picked cinnamon trunks and can move up and down along the cinnamon vertical rods;
the first annular track structure is arranged at the upper part of the tree climbing wheel mechanism along the horizontal direction and is fixedly connected with the tree climbing wheel mechanism through a first support, a first annular track groove is formed in the inner side of the first annular track structure, and a first horizontal cutting mechanism is arranged in the first annular track groove and can perform annular cutting motion in the horizontal direction in the first annular track groove;
the second annular track structure is arranged at the upper part of the first annular track structure along the horizontal direction and is connected with the first annular track structure through a first vertical telescopic unit, a second annular track groove is formed in the inner side of the second annular track structure, and a second horizontal cutting mechanism is arranged in the second annular track groove and can perform annular cutting motion in the horizontal direction in the second annular track groove;
a longitudinal cutting mechanism disposed on the second endless track structure;
the stripping blade assembly is arranged between the first horizontal cutting mechanism and the second horizontal cutting mechanism and is used for stripping the cassia bark;
tectorial membrane mechanism is located the top most of device for carry out tectorial membrane protection to the trunk part of having picked the cinnamon, include:
the third annular track structure is arranged at the upper part of the second annular track structure along the horizontal direction, is fixedly connected with the second annular track structure through a third annular track structure supporting plate, and is connected with the film covering assembly through a film covering clamping wheel assembly;
the liquid medicine storage tank is arranged between the second annular track structure and the third annular track structure;
the third annular track is a hollow pipeline, a medicine delivery hose is arranged in the hollow pipeline, a medicine spraying head is arranged on the inner side of the pipe wall of the hollow pipeline, and the medicine spraying head is communicated with a water outlet of the medicine delivery hose; a pump is arranged in the liquid medicine storage tank, and the water outlet of the pump is connected with the water inlet of the medicine conveying hose.
2. The embracing type cinnamon picking machine of claim 1, wherein said tree climbing wheel mechanism comprises:
the tree climbing device comprises two tree climbing clamping wheels which are symmetrically arranged on the left and the right, wherein each tree climbing clamping wheel is connected with a first motor for climbing trees through a tree climbing clamping wheel shaft;
a clamping wheel shaft sleeve is rotatably and coaxially sleeved outside the tree climbing clamping wheel shaft;
the first bidirectional linear telescopic unit is transversely arranged between the two tree climbing clamping wheels, and two telescopic shafts of the first bidirectional linear telescopic unit are fixedly connected with the two clamping wheel shaft sleeves through connecting frames respectively;
the tree climbing auxiliary wheel comprises an auxiliary wheel frame, wherein an auxiliary wheel body is arranged on the auxiliary wheel frame through an auxiliary wheel shaft;
and the first linear telescopic unit is fixed on the first bidirectional linear telescopic unit, and a telescopic shaft of the first linear telescopic unit is connected with the auxiliary wheel frame.
3. The surround type cinnamon picking machine of claim 1, wherein said first endless track structure comprises:
the two telescopic ends of the second bidirectional linear telescopic unit are respectively connected with a first semi-annular track unit, the two first semi-annular track units are arranged in bilateral symmetry, and the first annular track structure can be combined under the telescopic action of the second bidirectional linear telescopic unit;
the second endless track structure comprises:
two second semi-annular track units are symmetrically arranged left and right, and the second two-way linear telescopic unit can be combined into a second annular track structure under the telescopic action of the third two-way linear telescopic unit;
the third endless track structure comprises:
and the two third semi-annular track units are arranged in a bilateral symmetry manner, and the third bidirectional linear telescopic units can be combined into a third annular track structure under the expansion and contraction of the third bidirectional linear telescopic units.
4. The surround type cinnamon picking machine of claim 1, wherein said first and second horizontal cutting mechanisms are identical in structure and each comprise:
the driving shaft of the second motor is in transmission connection with an input shaft supported on one side through a coupler;
an input bevel gear connected to the input shaft supported at one side;
the first output bevel gear is meshed with the input bevel gear, an output shaft is connected to the first output bevel gear, and one end of the output shaft is connected with a traveling wheel;
the second output bevel gear is connected to the input shaft supported on the single side and meshed with the first output bevel gear, and the second output bevel gear is arranged in parallel with the first output bevel gear;
the first cutting blade is connected to one end, away from the second motor, of the input shaft supported on one side;
the walking wheel is arranged in the annular track groove and can move relative to the annular track.
5. The encircling cassia bark picking machine as claimed in claim 1, wherein the longitudinal cutting mechanism comprises:
the first connecting base is fixedly connected with the second annular track structure;
a horizontal rotation unit disposed on the first connection base;
the second linear telescopic unit is fixedly connected with the horizontal rotating unit, a third motor is connected to a telescopic shaft of the second linear telescopic unit, a second cutting blade is installed on a driving shaft of the third motor, and a cutting plane where the second cutting blade is located is perpendicular to the horizontal plane
Adjusting a horizontal angle of the second cutting blade by the horizontal rotation unit;
and adjusting the distance between the second cutting blade and the bark trunk to be cut through the second linear telescopic unit.
6. The encircling type cinnamon picking machine according to claim 1,
the film covering assembly comprises:
the bottom of the second connecting base is connected with the third annular track structure through a film covering clamping wheel;
the fourth motor is arranged on the second connecting base, and a driving shaft of the fourth motor penetrates through the second connecting base to be in driving connection with the film covering clamping wheel;
and the bottom of the vertical support is arranged on the second connecting base, the upper end of the vertical support is connected with a third linear telescopic unit, and a telescopic shaft of the third linear telescopic unit is connected with a film laminating machine.
7. The surround type cinnamon picking machine of claim 1, wherein said stripping blade assembly comprises:
the upper end of the second vertical telescopic unit is fixedly connected with a gear box on the second horizontal cutting mechanism through a first connecting rod; the lower end of the first horizontal cutting mechanism is fixedly connected with a gear box on the first horizontal cutting mechanism through a second connecting rod;
and a stripping blade is fixed on the side wall of the second vertical telescopic unit.
8. The embracing type cinnamon picking machine of claim 1, wherein said first vertical telescoping unit comprises:
the linear motor is fixed on the first annular track structure, and a telescopic rod end of the linear motor is connected with the second annular track structure;
and the two telescopic rods are connected between the first annular track structure and the second annular track structure and are arranged in a bilateral symmetry mode by taking the telescopic rods of the linear motor as a center.
9. A picking method based on the embracing type cassia bark picking machine as claimed in any one of claims 1 to 8, which is characterized by comprising the following steps:
s1, clamping the tree to be picked at the bottom of a trunk of a cinnamon tree through a tree climbing wheel structure, and sleeving a first annular track structure, a second annular track structure and a third annular track structure outside the trunk of the cinnamon tree to be picked;
s2, driving the whole device to climb upwards from the bottom of the tree pole through the tree climbing wheel mechanism; the longitudinal cutting of the cinnamon tree to be picked is completed through the longitudinal cutting mechanism along with the upward climbing of the machine;
s4, after climbing to a specified height, completing longitudinal cutting, and retracting a longitudinal cutting blade;
s5, adjusting the distance between the first annular track structure and the second annular track structure through the first vertical telescopic unit;
s6, performing circular cutting on the trunk of the cinnamon tree to be picked through the first annular cutting mechanism and the second annular cutting mechanism, and meanwhile, inserting a stripping blade arranged on a stripping blade assembly between the two horizontal cutting mechanisms into a slit which is cut longitudinally, and stripping the cut cinnamon from the trunk of the cinnamon tree to be picked;
s7, driving the whole device to descend through a tree climbing wheel mechanism;
s8, in the descending process, spraying the liquid medicine to the trunk with the cinnamon bark peeled off through a pipeline and a medicine spraying head in a third annular track structure through a liquid medicine storage box; meanwhile, the tree trunks sprayed with the liquid medicine are subjected to rotary film covering through a film covering mechanism positioned at the uppermost part of the device;
s9, the machine reaches the bottom of a trunk of a cinnamon tree to be picked, and meanwhile, the tree climbing wheel structure, the first annular track structure, the second annular track structure and the third annular track structure are loosened and taken down from the trunk of the cinnamon tree which has been picked.
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| CN202211511924.9A CN115735543A (en) | 2022-11-29 | 2022-11-29 | Surrounding type cassia bark picking machine and picking method thereof |
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| CN202211511924.9A CN115735543A (en) | 2022-11-29 | 2022-11-29 | Surrounding type cassia bark picking machine and picking method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116098041A (en) * | 2023-03-22 | 2023-05-12 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
| CN117941542A (en) * | 2024-03-01 | 2024-04-30 | 仲恺农业工程学院 | Self-climbing cinnamon peeling device |
-
2022
- 2022-11-29 CN CN202211511924.9A patent/CN115735543A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116098041A (en) * | 2023-03-22 | 2023-05-12 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
| CN116098041B (en) * | 2023-03-22 | 2023-11-14 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
| CN117941542A (en) * | 2024-03-01 | 2024-04-30 | 仲恺农业工程学院 | Self-climbing cinnamon peeling device |
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