CN212573584U - Semi-automatic mulberry leaf picking machine - Google Patents
Semi-automatic mulberry leaf picking machine Download PDFInfo
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- CN212573584U CN212573584U CN202021234617.7U CN202021234617U CN212573584U CN 212573584 U CN212573584 U CN 212573584U CN 202021234617 U CN202021234617 U CN 202021234617U CN 212573584 U CN212573584 U CN 212573584U
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Abstract
The utility model discloses a semi-automatization mulberry leaf picking machine, include: the device comprises an electric control system, a walking device, a gantry mechanism, a mulberry branch raising device, an upper limiting push rod assembly, a lower limiting push rod assembly and a mulberry leaf picking device. The assembly of the walking device and the gantry mechanism can realize the mulberry-crossing walking in the mulberry plantation; induction travel switches are arranged at different positions of the electric control system to control the on and off of the circuit in a segmented manner, so that the mulberry twig supporting servo motor and the driver thereof drive the mulberry twig supporting device to open and close, the mulberry leaf picking servo motor and the driver thereof drive the upper and lower push rod assemblies of the mulberry leaf picking device to realize closing, downward movement, opening and upward movement, and finally the sequential cyclic action of picking mulberry leaves is realized to realize mulberry supporting and picking; further reducing the labor intensity of mulberry farmers, helping them to be separated from heavy labor, realizing man-machine combination and flexible operation, and improving the mulberry leaf picking speed and picking rate.
Description
Technical Field
The utility model belongs to the technical field of mulberry leaf picking machinery, in particular to a semi-automatic mulberry leaf picking machine.
Background
With the implementation of east-mulberry-west-shift engineering, silkworm breeding in China is in a vigorous stage at present, but the mulberry leaves picked in China are mainly picked manually, the manual picking time is long, the labor intensity is high, and hands of farmers can be injured. In order to keep the income of farmers continuously and rapidly increasing, the state needs the development of agricultural mechanization, which is an important material basis for promoting modern agricultural construction.
In recent years, although mulberry leaf picking machines have been developed to some extent, such as the mulberry leaf picker disclosed in patent No. 201120287574.3, the mulberry leaf picking machine has the advantages of high speed, no damage to hands during picking mulberry leaves, small volume, and capability of being operated by holding the mulberry leaf picker in the palm of the hand with one hand and being operated by both the left hand and the right hand. The weight is light, less than 150 g, the mulberry tree picking machine is suitable for various mulberry varieties, and mulberry branches with different sizes can be picked quickly; a novel mulberry leaf picking machine with patent number 201220176574, wherein a concave S-shaped guide plate is arranged at the front lower part of a storage battery driver and consists of a conveying belt with a toothed nail, a collecting fan, a roller, a connecting rod, a lower collecting plate, a wheel, a beating wheel, an upper collecting net, a control lever and a leaf outlet; it is still necessary to rely on most of the manual labor for the operation. The appearance of the mulberry leaf picker can greatly reduce the labor intensity of farmers, but the mulberry leaf picker is not designed to change the picking mode of mulberry farmers and mainly depends on the labor force of the mulberry farmers.
Therefore, based on the current picking mode and current situation, the labor force of workers is further reduced, and a picking machine capable of automatically picking mulberry leaves is urgently needed.
SUMMERY OF THE UTILITY MODEL
The main object of the utility model is to provide a semi-automatization mulberry leaf picking machine of at least part solution above-mentioned technical problem can further reduce mulberry grower's intensity of labour, helps them to deviate from tedious work, realizes man-machine combination, and nimble operation improves mulberry leaf picking speed and picking rate.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a semi-automated mulberry leaf picker, comprising: the device comprises an electric control system, a walking device, a gantry mechanism, a mulberry branch raising device, an upper limiting push rod assembly, a lower limiting push rod assembly and a mulberry leaf picking device;
the electric control system comprises a control unit, and a power supply battery, a power switch, a mulberry twig induction travel switch, a mulberry leaf lifting motion travel switch, a mulberry leaf lifting servo motor and a driver thereof, an upper mulberry leaf picking travel switch, a lower mulberry leaf picking travel switch, a mulberry leaf picking servo motor and a driver thereof which are respectively connected with the control unit;
the gantry mechanism is arranged on the traveling device; the power supply battery and the control unit are mounted on a cross beam of the gantry mechanism; the power switch is arranged on the walking device;
two longerons of gantry mechanism, top-down installs in proper order: a mulberry branch supporting device, an upper limiting push rod component, a mulberry leaf picking device and a lower limiting push rod component;
the mulberry twig induction travel switch, the mulberry twig supporting motion travel switch, the mulberry twig supporting servo motor and the driver thereof are respectively arranged on the mulberry twig supporting device;
the control unit controls the mulberry twig supporting servo motor and a driver thereof to work according to signals of the mulberry twig induction travel switch and the mulberry twig supporting movement travel switch, so as to realize the mulberry twig supporting operation of the mulberry twig supporting device;
the upper mulberry leaf picking travel switch is arranged on the upper limiting push rod assembly; the lower mulberry leaf picking travel switch is arranged below the lower limiting push rod assembly and is positioned on the walking device; the mulberry leaf picking servo motor and a driver thereof are arranged on the mulberry leaf picking device;
the control unit controls the mulberry leaf picking servo motor and a driver thereof according to signals of the upper mulberry leaf picking travel switch and the lower mulberry leaf picking travel switch, drives the mulberry leaf picking device to move up and down between the upper limit push rod assembly and the lower limit push rod assembly along two longitudinal beams of the gantry mechanism, and achieves mulberry leaf picking operation of the mulberry leaf picking device.
Further, the walking device comprises two symmetrical walking mechanisms; each running gear includes: the device comprises a directional roller assembly, a universal roller assembly, a supporting beam, a mulberry leaf containing box and a handle;
the universal roller assembly is installed at one end of the bottom of the supporting beam, the directional roller assembly is installed at the other end of the bottom of the supporting beam, and the handle is installed at one end, close to the directional roller assembly, of the top of the supporting beam; the power switch is arranged on the handle; the mulberry leaf containing box is arranged on the inner side of the supporting beam;
the upper end surfaces of the two supporting cross beams are fixedly connected with the two longitudinal beams of the gantry mechanism through right-angle connecting seats;
the two corresponding mulberry leaf containing boxes are separated by a preset distance; an oblique beam is arranged on the front side face of the mulberry leaf containing box, one end of the oblique beam is connected with the inner side face of the supporting beam, and the other end of the oblique beam is connected with an end point of the mulberry leaf containing box far away from the supporting beam; a V-shaped guide opening is formed in the front half part between the two mulberry leaf containing boxes and is used as a mulberry tree introducing opening; the back half part forms a long and narrow passage which is used as a passage for the mulberry.
Further, the directional roller assembly and/or the universal roller assembly are/is connected with the supporting beam through an adjustable assembly;
the adjustable assembly comprises: the height-adjustable supporting leg, the adjusting nut and the locking nut;
the lower end of the height-adjustable supporting foot is provided with a roller assembly, and the upper end of the height-adjustable supporting foot is arranged on the supporting beam through a locking nut; the adjusting nut is installed on the transmission screw rod of the height-adjustable supporting foot.
Furthermore, the cross section of the front end of the mulberry leaf containing box is trapezoidal or triangular, so that the cross section of the long and narrow channel is isosceles trapezoid or isosceles triangle.
Furthermore, the gantry mechanism comprises two groups of closed transmission guide rail upright columns, two bridging cross beams and an angle connecting piece;
the closed transmission guide rail upright post forms a longitudinal beam; two ends of the two bridging cross beams pass through the corner connecting pieces;
the closed transmission guide rail stand column is provided with a ball screw, an end socket supporting seat thereof, a sliding guide rail and a longitudinal transmission sliding table; the upper limiting push rod assembly is arranged on the sliding guide rail; the mulberry leaf picking device is arranged on the longitudinal transmission sliding table.
Furthermore, the mulberry twig supporting device comprises a left mulberry branch supporting mechanism and a right mulberry branch supporting mechanism which are symmetrical; each mulberry-holding mechanism consists of a transverse electric open type ball screw transmission assembly, a sliding guide rail assembly, a mulberry-holding clamp and a transverse supporting seat;
the ball screw transmission assembly and the sliding guide rail assembly are arranged on the transverse supporting seat; the mulberry holding clamp is arranged on the sliding guide rail assembly;
the ball screw transmission assembly is provided with the hibiscus-raising branch servo motor and a driver thereof; the mulberry branch servo motor and the driver thereof drive the sliding guide rail assembly to horizontally move through the ball screw transmission assembly.
Further, the mulberry leaf picking device comprises: the left mulberry leaf picking mechanism and the right mulberry leaf picking mechanism are symmetrical; each mulberry leaf picking mechanism consists of a rack and gear transmission mechanism assembly, a leaf picking cutter assembly, a cutter bar guide frame, a leaf picking motion travel switch touch rod and a right-angle supporting seat;
the rack and gear transmission mechanism assembly and the leaf picking motion travel switch touch rod are arranged on the right-angle supporting seat and are close to the longitudinal vertical inner side surface of the right-angle supporting seat;
the cutter bar guide frame is arranged on the transverse horizontal plane of the right-angle supporting seat and is far away from the longitudinal vertical inner side surface of the right-angle supporting seat; the cutter bar guide frame sleeves the leaf picking cutter assembly; the rack and pinion transmission mechanism assembly is connected with the leaf picking cutter assembly;
the two ends of the leaf picking motion travel switch touch rod respectively correspond to the upper mulberry leaf picking travel switch and the lower mulberry leaf picking travel switch;
the control unit controls the mulberry leaf picking servo motor and a driver thereof to work and drives the ball screw on the closed transmission guide rail upright post to rotate so as to realize the vertical movement of the right-angle supporting seat; when one end of the leaf picking motion travel switch touch rod touches the upper leaf picking travel switch or the lower leaf picking travel switch, the leaf picking servo motor is controlled to work reversely to drive the ball screw to rotate reversely;
the right-angle supporting seat moves up and down to drive the rack and gear transmission mechanism assembly, and mulberry picking operation is achieved through the leaf picking cutter assembly.
Furthermore, the upper limiting push rod assembly comprises two groups of upper limiting mechanisms;
each upper limiting mechanism comprises: an upper limiting push rod, an upper adjusting screw, an upper locking nut and an upper push rod bracket; each group of upper limiting mechanisms is arranged on the inner side surface of the upper half part of the corresponding closed transmission guide rail upright post;
the upper limiting push rod is provided with a long round hole for adjusting the installation position and is fastened on the upper push rod bracket through two screws; the upper push rod bracket is provided with two mounting screw hole positions and adjusting screw holes, and the axial direction of each adjusting screw hole is vertical to the axial direction of the two screw holes; the upper adjusting screw is assembled on the adjusting screw hole, and the axial direction of the upper adjusting screw is consistent with the axial direction of the upper limiting push rod and is positioned on the same straight line;
the upper mulberry leaf collecting travel switch is arranged above the upper adjusting screw and is positioned on the upper push rod bracket.
Furthermore, the lower limit push rod assembly comprises two groups of lower limit mechanisms;
each lower limiting mechanism comprises: the lower limiting push rod, the lower adjusting screw, the lower locking nut and the lower push rod bracket; each group of lower limiting mechanisms is arranged on the inner side surface of the lower half part of the corresponding closed transmission guide rail upright post;
the lower limiting push rod is provided with a long round hole for adjusting the installation position and is fastened on the lower push rod bracket through two screws; the lower push rod bracket is provided with two mounting screw hole positions and an adjusting screw hole, and the axial direction of the adjusting screw hole is vertical to the axial direction of the two screw holes; the lower adjusting screw is assembled on the adjusting screw hole, and the axial direction of the lower adjusting screw is consistent with the axial direction of the lower limiting push rod and is positioned on the same straight line.
Furthermore, the right angle connecting seat is in the shape of an isosceles triangle, and the middle part of the right angle connecting seat is hollow.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the assembly of the walking device and the gantry mechanism can realize the mulberry-crossing walking in the mulberry plantation; induction travel switches are arranged at different positions of the electric control system to control the on and off of the circuit in a segmented manner, so that the mulberry twig supporting servo motor and the driver thereof drive the mulberry twig supporting device to open and close, the mulberry leaf picking servo motor and the driver thereof drive the upper and lower push rod assemblies of the mulberry leaf picking device to realize closing, downward movement, opening and upward movement, and finally the sequential cyclic action of picking mulberry leaves is realized to realize mulberry supporting and picking; further reducing the labor intensity of mulberry farmers, helping them to be separated from heavy labor, realizing man-machine combination and flexible operation, and improving the mulberry leaf picking speed and picking rate.
2. The height of the rollers on the walking device is adjustable, so that the walking device can adapt to the geographical environment and the height of the mulberry; a V-shaped guide opening and a long and narrow channel are formed by arranging the mulberry leaf containing box and are used as a mulberry introducing opening and a passage, so that integration of mulberry branch supporting, mulberry leaf picking and mulberry leaf collecting is realized.
3. The control unit obtains the sensing signals of the mulberry twig sensing travel switch and the mulberry-supporting movement travel switch, controls the operation of the mulberry twig supporting servo motor and the driver thereof, realizes the automatic control of the mulberry-supporting operation of the mulberry twig supporting device, realizes the fixation of the mulberry twigs through the mulberry-supporting clamp, prepares for mulberry leaf picking, and improves the operation efficiency.
4. The mulberry leaf picking device realizes automatic control of a mulberry leaf picking servo motor and a driver thereof under the induction of an upper mulberry leaf picking travel switch and a lower mulberry leaf picking travel switch, and the mulberry leaf picking device can drive a mulberry leaf picking cutter assembly to pick mulberry leaves by moving up and down through a rack and pinion transmission mechanism assembly, thereby effectively increasing the efficiency of mulberry leaf picking.
5. The front half parts of the two mulberry leaf containing boxes are provided with V-shaped introducing ports, so that the introduction of mulberry trees is facilitated; the cross sections of the two front ends are trapezoidal or triangular, so that the cross section of a long and narrow channel formed by the rear half part is isosceles trapezoid or isosceles triangle, and the mulberry can pass through the long and narrow channel; assisting the mulberry-raising operation of the mulberry-raising device; can effectively increase the number of picked mulberry branches.
Drawings
FIG. 1 is a schematic view of the overall structure of the semi-automatic mulberry leaf picking machine provided by the present invention;
fig. 2 is a schematic structural view of the walking device provided by the present invention;
FIG. 3 is a schematic structural view of a gantry mechanism provided by the present invention;
FIG. 4 is a schematic structural view of a ramulus Mori device provided by the present invention;
fig. 5 is a schematic structural view of the upper limit push rod assembly provided by the present invention;
fig. 6 is a schematic structural view of a lower limit push rod assembly provided by the present invention;
fig. 7 is a schematic structural view of the mulberry leaf picking device provided by the present invention;
fig. 8 is a different angle view of the rack assembly for longitudinal displacement in the mulberry leaf picking apparatus provided by the present invention;
fig. 9 is a logic diagram of the electric control system provided by the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, a semi-automatic mulberry leaf picking machine comprises an electric control system, a traveling device 1, a portal frame mechanism 2, a mulberry branch holding device 3, an upper limiting push rod assembly 4, a lower limiting push rod assembly 5 and a mulberry leaf picking device 6;
the electric control system comprises a control unit, and a power supply battery, a power switch, a mulberry twig induction travel switch, a mulberry twig supporting movement travel switch, a mulberry twig supporting servo motor and a driver thereof, an upper mulberry leaf picking travel switch, a lower mulberry leaf picking travel switch, a mulberry leaf picking servo motor and a driver thereof which are respectively connected with the control unit.
The control unit can be a PLC controller or a singlechip loaded with a control program; the PLC Controller is a Programmable Logic Controller (PLC), a digital electronic device with a microprocessor, and a digital Logic Controller for automatic control. The PLC can load the control instructions of the mulberry twig induction travel switch, the mulberry twig supporting motion travel switch, the mulberry twig supporting servo motor and the driver thereof, the upper mulberry leaf picking travel switch, the lower mulberry leaf picking travel switch, the mulberry leaf picking servo motor and the driver thereof into an internal memory for storage and execution.
The gantry mechanism 2 is arranged on the walking device 1; a power supply battery and a control unit are arranged on a beam of the portal frame mechanism 2; the power switch is arranged on the walking device. Two longerons of gantry mechanism 2, top-down installs in proper order: a mulberry twig supporting device 3, an upper limit push rod component 4, a mulberry leaf picking device 6 and a lower limit push rod component 5; the mulberry twig induction travel switch, the mulberry twig support motion travel switch, the mulberry twig support servo motor and the driver thereof are respectively arranged on the mulberry twig support device 3; the upper mulberry leaf picking travel switch is arranged on the upper limit push rod component 4; the lower mulberry leaf picking travel switch is arranged below the lower limiting push rod assembly and is positioned on the walking device. The mulberry leaf picking servo motor and a driver thereof are arranged on a longitudinal beam of the gantry mechanism (2) and are used for driving the mulberry leaf picking device 6 to move up and down;
the control unit controls the mulberry twig supporting servo motor and a driver thereof to work according to signals of the mulberry twig induction travel switch and the mulberry twig supporting movement travel switch, so as to realize the mulberry twig supporting operation of the mulberry twig supporting device 3; and according to the signals of the upper mulberry leaf picking travel switch and the lower mulberry leaf picking travel switch, the mulberry leaf picking servo motor and the driver thereof drive the mulberry leaf picking device 6 to move up and down between the upper limit push rod assembly 4 and the lower limit push rod assembly 5 along two longitudinal beams of the gantry mechanism 2, thereby realizing the mulberry leaf picking operation of the mulberry leaf picking device 6.
In the embodiment, the mulberry spanning walking in the mulberry plantation can be realized through the assembly of the walking device and the gantry mechanism; induction travel switches are arranged at different positions of the electric control system to control the on and off of the circuit in a segmented manner, so that the mulberry twig supporting servo motor and the driver thereof drive the mulberry twig supporting device to open and close, the mulberry leaf picking servo motor and the driver thereof drive the upper and lower push rod assemblies of the mulberry leaf picking device to realize closing, downward movement, opening and upward movement, and finally the sequential cyclic action of picking mulberry leaves is realized to realize mulberry supporting and picking; further reducing the labor intensity of mulberry farmers, helping them to be separated from heavy labor, realizing man-machine combination and flexible operation, and improving the mulberry leaf picking speed and picking rate.
Further, referring to fig. 2, the walking device 1 includes two symmetrical walking mechanisms; each running gear includes: the device comprises an orientation roller assembly 101, a universal roller assembly 102, a supporting beam 105, a mulberry leaf containing box 107 and a handle 108;
one end of the bottom of the supporting beam 105 is provided with a universal roller assembly 102, and the other end of the bottom is provided with a directional roller assembly 101; a handle 108 is arranged at one end of the top part close to the orientation roller assembly 101; a power switch is arranged on the handle 108, so that the power can be conveniently turned on and off manually, and the operation can be started; the mulberry leaf containing box 107 is arranged on the inner side of the supporting beam 105; the upper end surfaces of the two supporting cross beams 105 are fixedly connected with the two longitudinal beams of the gantry mechanism 2 through right-angle connecting seats 7. This right angle connecting seat 7, the outward appearance is isosceles triangle shape, and the middle part fretwork is in order to alleviate equipment total weight.
A preset distance is arranged between the two corresponding mulberry leaf containing boxes 107 to form the width of a passage of the mulberry; the preset distance is set according to the growth condition of the mulberry plants. The front side surface of the mulberry leaf containing box 107 is provided with an oblique beam 10701, one end of the oblique beam is connected with the inner side surface of the supporting beam 105, and the other end of the oblique beam is connected with the end point of the mulberry leaf containing box 107 far away from the supporting beam 105; the firmness of the mulberry leaf containing boxes 107 is increased, and a V-shaped guide opening is formed in the front half part between the two mulberry leaf containing boxes 107 and is used as a mulberry tree introducing opening; the cross section of the front end of the mulberry leaf containing box 107 is trapezoidal or triangular, and a long and narrow channel is formed at the rear half part of the mulberry leaf containing box and is used as a passage for mulberry trees, so that the cross section of the long and narrow channel is isosceles trapezoid or isosceles triangle. Is beneficial to gathering mulberry twigs and improving trafficability.
In addition, the roller wheel assembly can be set to be height-adjustable in order to adapt to various geographical environments, such as the ground with slopes; the roller assembly 102 is connected with a supporting beam 105 through an adjustable assembly; the adjustable assembly includes: an adjustable height support foot 103, an adjusting nut 104 and a locking nut 106; the lower end of the height-adjustable supporting foot 103 is provided with a roller assembly, and the upper end is arranged on a supporting beam 105 through a locking nut 106; an adjusting nut 104 is mounted on the drive screw of the adjustable height support foot 103.
When the mulberry picking personnel hold the handle to push the walking device, the whole equipment can be driven to walk forwards; the height-adjustable supporting foot 103 is formed by welding a steel flange plate and a transmission screw rod, and the size and the opening position of the steel flange plate are consistent with those of a mounting flange plate of the roller component; the height-adjustable supporting foot 103 is connected with the roller assembly in a locking way through a locking nut 106. The adjusting nut 104 is made of cast iron, carbon steel or aluminum alloy, and is provided with a handle which can be manually turned, the adjusting nut 104 is assembled on a transmission screw of the height-adjustable supporting foot 103, and a person can turn the adjusting nut 104 by rotating forward and backward, so that the adjusting nut 104 can realize vertical displacement.
The two supporting beams 105 are left and right supporting beams which are symmetrical, and the materials of the two supporting beams are cast iron, carbon steel and aluminum alloy generally; the support beam 105 is provided with a mounting hole connected to the mulberry leaf storage box 107. The two lower limit push rod assemblies 5 can be mounted on two longitudinal beams of the gantry mechanism 2, or can be mounted in the middle of two supporting beams 105, and are in the same straight line with the two longitudinal beams of the gantry mechanism 2. Therefore, the supporting beam 105 is also provided with an installation vacancy of the lower limit push rod assembly 5 and an installation position of the lower mulberry leaf stroke switch IV. Two ends of the frame are respectively provided with a sleeve through hole, one end of the frame is also provided with a hole site which is connected with the handle, and the middle part of the frame is provided with a mounting hole which is connected with the gantry frame mechanism 2; the supporting beam 105 is sleeved on the transmission screw rod of the supporting foot 103 with adjustable height through a sleeve through hole and is lapped on the upper end surface of the adjusting nut 104.
A mulberry leaf storage box 107 made of thin-walled steel plate or aluminum alloy sheet; as shown in fig. 2, the left and right containers are symmetrically connected to the corresponding left and right supporting beams by screws, and after the left and right containers are fixed, a V-shaped guide opening is formed between the left and right containers at the front half part to serve as a mulberry tree introduction opening, and a long and narrow passage is formed at the rear half part to serve as a passage for mulberry trees to pass through; the handle 108, close to the hand-held end, is provided with a power switch mounting hole 10801, and the other end is provided with a through hole connected with the supporting beam in a mounting manner, and is fastened and connected with the supporting beam through bolts and nuts.
In the embodiment, the height of the roller on the walking device is adjustable, so that the walking device can adapt to the geographical environment and the height of the mulberry; a V-shaped guide opening and a long and narrow channel are formed by arranging the mulberry leaf containing box and are used as a mulberry introducing opening and a passage, so that integration of mulberry branch supporting, mulberry leaf picking and mulberry leaf collecting is realized.
Further, as shown in fig. 3, the gantry mechanism 2 mainly includes two sets of closed transmission guide rail uprights 201, two bridging beams 202, and an angle connector 203; the closed transmission guide rail upright 201 forms a longitudinal beam; two ends of the two bridging beams 202 are respectively installed on the two groups of closed transmission guide rail upright posts 201 through angle connectors 203. The corner connector 203 can also be in a right-angled triangle shape, is usually made of cast iron, carbon steel or aluminum alloy, is assembled at the lower part of the closed transmission guide rail upright post, is used for connecting the cross-over beam 202 and the closed transmission guide rail upright post 201, and is fastened and connected through bolts; the middle part is hollowed out to reduce the total weight of the equipment.
The closed transmission guide rail upright 201 is a precise electric closed transmission guide rail upright sliding table assembly which is provided with a ball screw and an end supporting seat 20101 thereof, a sliding guide rail and a longitudinal transmission sliding table 20102, the sliding guide rail is provided with an upper limit push rod assembly 4 mounting hole position, the longitudinal transmission sliding table 20102 is used for mounting a mulberry leaf picking device 6, and the closed transmission guide rail upright 201 can be provided with a mulberry leaf picking servo motor and a driver V thereof.
The cross-over beam 202 is a general aluminum alloy section for connecting two groups of closed transmission guide rail upright posts 201 to form a 'door' shape, and is provided with an installation vacancy for a power supply battery and a control unit.
Further, as shown in fig. 4, the mulberry twig holding device 3 includes two sets of transverse electric open-type ball screw transmission assemblies 301, two sets of sliding guide rail assemblies 302, a pair of mulberry twig holding clamps 303, and left and right transverse supporting seats 304; the ball screw transmission assembly 301 and the sliding guide rail assembly 302 are arranged on the transverse supporting seat 304; a hibiscus clamp 303 is mounted on the sliding guide assembly 302;
a mulberry twig supporting servo motor and a driver II thereof are arranged on the ball screw transmission assembly 301; the mulberry twig supporting servo motor and the driver II thereof drive the sliding guide rail component 302 through the ball screw transmission component 301, so as to drive the mulberry supporting clamp 303 to horizontally move.
Specifically, the horizontal electric open type ball screw transmission assembly 301 is provided with a ball screw 30101, a horizontal supporting seat 30102, a screw transmission sliding table 30103, a servo motor connecting seat 30104 and a screw end supporting seat 30105. The servo motor connecting seat 30104 is used for fixedly mounting the hibiscus-sinensis branch servo motor and the driver II thereof; the sliding guide rail assembly 302 comprises a sliding guide rail 30201 and a guide rail sliding table 30202; the hibiscus clamp 303 comprises a hibiscus clamp 30301 and a clamp connecting plate 30302, wherein the side surface of the hibiscus clamp is provided with anti-collision plastic or rubber; the material of the hibiscus-raising clamp 303 is generally a steel part or an aluminum alloy, and the hibiscus-raising clamp is fixedly connected with one end of a clamp connecting plate 30302 through a screw; the chuck connecting plate 30302 is generally made of steel or aluminum alloy, the middle part of the chuck connecting plate is fastened and connected with the guide rail sliding table 30202 through screws, and the other end of the chuck connecting plate is fastened and connected with the screw rod transmission sliding table 30103 through screws. The left and right transverse supporting seats 304 are usually made of carbon steel, cast iron or aluminum alloy, the horizontal plane 30401 of the supporting seats is used for installing and supporting the transverse electric open type ball screw transmission assembly 301 and the sliding guide rail assembly 302, and the middle part is provided with a hibiscus movement travel switch installing hole position and is also provided with a hibiscus movement travel switch; one end close to the mulberry branch holding chuck is provided with a mulberry branch induction travel switch I mounting hole position, and is provided with a mulberry branch induction travel switch I. The components and the travel switch are fastened through screws, and the vertical plane 30402 of the supporting seat is fastened and connected with the upright column 2 of the portal frame through bolts.
The operating principle and the main function of the mulberry twig supporting device are as follows: when the mulberry twig induction travel switch I is touched by a mulberry twig trunk close to the tip of a mulberry tree, a left and a right mulberry twig holding servo motors are triggered to work and drive a ball screw 30101 connected with the mulberry twig to rotate, the left and the right screw transmission sliding tables 30103 are drawn close to the middle by the rotation of the ball screw 30101, namely, a mulberry holding clamp 303 arranged on the screw transmission sliding tables 30103 is simultaneously folded towards the middle until a mulberry holding motion travel switch touch rod in the middle of a chuck connecting plate touches the travel switch, the mulberry twig holding servo motors stop working, and a mulberry holding chuck clamps the part of the mulberry twig trunk close to the tip of the mulberry twig, so that the tips of the mulberry twigs are relatively stable and cannot swing; at this time, the control unit controls the mulberry leaf picking servo motor to start working.
In the embodiment, the control unit acquires the sensing signals of the mulberry twig sensing travel switch and the mulberry twig supporting movement travel switch, controls the operation of the mulberry twig supporting servo motor and the driver thereof, realizes the automatic control of the mulberry twig supporting operation of the mulberry twig supporting device, realizes the fixation of the mulberry twigs through the mulberry twig supporting clamp, prepares for mulberry leaf picking, and improves the operation efficiency.
Further, as shown in fig. 5, the upper limit push rod assembly 4 is two sets of upper limit mechanisms, each set includes an upper limit push rod 401, an upper adjusting screw 402, an upper lock nut 403, and an upper push rod bracket 404; each group of upper limiting mechanisms is arranged on the inner side surface of the upper half part of the corresponding closed transmission guide rail upright 201;
the upper limiting push rod 401 is made of medium carbon steel, is subjected to quenching and tempering, is provided with a long round hole capable of adjusting the installation position, and is fastened on the upper push rod support 404 through two screws; the upper push rod bracket 404 is provided with two mounting screw hole positions of the upper limit push rod 401 and an adjusting screw hole, the axial direction of the adjusting screw hole is perpendicular to the axial direction of the mounting screw holes of the two upper limit push rods 401, the upper adjusting screw 402 is assembled on the adjusting screw hole, and the axial direction of the upper adjusting screw is consistent with the axial direction of the upper limit push rod 401 and is basically in a straight line.
When the upper limit push rod 401 is mounted on the upper push rod bracket 404, the upper adjusting screw 402 is turned, so that the end face of the screw abuts against the end face of the upper limit push rod 401, the upper adjusting screw 402 is locked by turning the upper locking nut 403, and the locked upper adjusting screw 402 can ensure that the upper limit push rod 401 always keeps stable and unchanged in position when being pushed; when the position of the installed and fixed upper limit push rod 401 is not suitable for normal operation of the equipment, the upper limit push rod 401 can be finely adjusted by loosening the upper lock nut 403 and then turning the upper adjusting screw 402 until the position requirement is met, and then turning the upper lock nut 403 again to lock the upper adjusting screw 402.
The upper limiting push rod assembly 4 is arranged at a higher position of the upper half part of the upright post of the closed longitudinal sliding guide rail of the gantry mechanism 2, and the specific position of the upper limiting push rod assembly needs to be set according to the actual height of the mulberry. Wherein, the upper folium mori picking travel switch III is arranged above the upper adjusting screw 402 and is positioned on the upper push rod bracket 404.
Further, referring to fig. 6, the lower limit push rod assembly 5 is two groups of lower limit mechanisms; each group of lower limiting mechanisms comprises a lower limiting push rod 501, a lower adjusting screw 502, a lower locking nut 503 and a lower push rod bracket 504; each lower limiting mechanism is arranged on the inner side surface of the lower half part of the corresponding closed transmission guide rail upright post.
The lower limiting push rod 501 is made of medium carbon steel, is subjected to quenching and tempering, is provided with a long round hole capable of adjusting the installation position, and is fastened on the lower push rod support 504 through two screws; the lower limit push rod bracket 504 is provided with two mounting screw hole positions of the lower limit push rod 501 and an adjusting screw hole, the axial direction of the adjusting screw hole is perpendicular to the axial direction of the mounting screw holes of the two lower limit push rods 501, the lower adjusting screw 502 is assembled on the adjusting screw hole, and the axial direction of the lower limit push rod bracket is consistent with the axial direction of the lower limit push rod 501 and is basically positioned on the same straight line.
When the lower limiting push rod 501 is mounted on the lower push rod bracket 504, the lower adjusting screw 502 is turned, so that the end surface of the screw props against the end surface of the lower limiting push rod 501, the lower adjusting screw 502 is locked by turning the lower locking nut 503, and the locked lower adjusting screw 502 can ensure that the position of the lower limiting push rod 501 is always kept stable and unchanged when the lower limiting push rod 501 receives thrust; when the position of the installed and fixed lower limiting push rod 501 is not suitable for normal operation of equipment, the position of the lower limiting push rod 501 can be finely adjusted by loosening the lower locking nut 503 and then screwing the lower adjusting screw 502 until the position requirement is met, and then screwing the lower locking nut 503 to lock the lower adjusting screw 502.
The upper limiting push rod assembly 5 is arranged at a lower position of the lower half part of the column of the closed longitudinal sliding guide rail of the portal frame mechanism 2, and the specific position of the upper limiting push rod assembly needs to be set according to the actual height of the mulberry.
Further, as shown in fig. 7, the mulberry leaf picking device 6 includes a left and right rack and pinion transmission mechanism component 601, a left and right leaf picking blade component 602, a left and right cutter bar guide rack 603, two sets of leaf picking motion travel switch touch rods 604, and two sets of right-angle support seats 605.
The rack and pinion transmission mechanism component 601 and the leaf picking motion travel switch touch rod 604 are arranged on the right-angle supporting seat 605 and are close to the longitudinal vertical inner side surface of the right-angle supporting seat 605;
the cutter bar guide frame 603 is arranged on the horizontal plane of the right-angle supporting seat 605 and is far away from the vertical inner side surface of the right-angle supporting seat 605; the knife bar guide 603 sleeves the leaf picking knife assembly 602; the rack and pinion transmission mechanism component 601 is connected with the leaf picking cutter component 602; two ends of a leaf picking motion travel switch touch rod 604 respectively correspond to an upper mulberry leaf picking travel switch III and a lower mulberry leaf picking travel switch IV; the contact rod 604 of the leaf picking motion travel switch is used for triggering a starting instruction of the rack and pinion transmission mechanism component 601; the rack and pinion transmission mechanism component 601 is connected with the leaf picking knife component 602. Can realize reciprocating through rack and pinion drive mechanism subassembly, the drive is plucked the leaf cutter subassembly and is realized the harvesting to the mulberry leaf, effectively increases the efficiency of plucking the mulberry.
Further, the mulberry leaf picking device 6 can be assembled on a longitudinal sliding table 20102 of the portal frame; the rack and pinion transmission mechanism assembly 601 specifically comprises a longitudinal displacement rack assembly 60101, a fixed pinion assembly 60102, a bearing seat assembly 60103 and a transverse displacement rack assembly 60104;
the longitudinal displacement rack assembly 60101 is installed on the longitudinal vertical inner side surface of the right-angle supporting seat 605; the lateral displacement rack assembly 60104 is mounted on the lateral horizontal plane of the right angle bearing block 605; the fixed gear assembly 60102 is mounted on the right-angle support seat 605 through a bearing seat assembly 60103, so that the fixed gear assembly 60102 is respectively meshed with the longitudinal displacement rack assembly 60101 and the transverse displacement rack assembly 60104; one end of the lateral displacement rack assembly 60104 is connected to the stripper blade assembly 602.
As shown in fig. 8, the longitudinal displacement rack assembly 60101, specifically, includes a longitudinal rack 6010101, a longitudinal fixed slide 6010102, a longitudinal slide 6010103, and an auxiliary thrust torsion spring 6010104;
a stop block 601010201 is arranged at the side edge of the longitudinal fixed sliding seat 6010102, so that the rack can be prevented from horizontally displacing when the rack is meshed with the gear; the middle of the spring is provided with a concave 601010202 which is convenient for installing the torsion spring.
The longitudinal sliding cover 6010103 is close to the left and right sides, the left side high position and the right side low position are respectively provided with a torsion spring fixing convex column 601010301 (or the left side low position and the right side high position are respectively provided with a torsion spring fixing convex column), the longitudinal fixing sliding seat 60010102 and the longitudinal sliding cover 6010103 are combined to form a cavity, and the cavity is provided with an auxiliary thrust torsion spring 6010104;
the auxiliary thrust torsion spring 6010104 is provided with a zero limit point of thrust reversal with a required displacement distance, and steel wires at two ends of the auxiliary thrust torsion spring 6010104 are twisted respectively to form a circle which can be just sleeved on the torsion spring fixing convex column 601010301. The longitudinal rack 6010101 is fixed on the longitudinal sliding cover 6010103, and the torsion spring 6010104 is fixed on the other side of the longitudinal sliding cover 6010103 (one side of the longitudinal sliding cover 6010103 is fixed with the rack, and the other side is fixed with the torsion spring).
The longitudinal displacement rack 6010101 is engaged with a fixed gear assembly 60102, and the fixed gear assembly 60102 is engaged with a lateral displacement rack assembly 60104.
Specifically, the leaf picking cutter assembly 602 specifically comprises a cutter bar 60201 and a cutter blade 60202 which are fixedly connected through a screw, and the other end of the cutter bar 60201 is connected with the outer side end of the transverse displacement rack 60104 through a screw; the cutter bar guide frame 603 is positioned at the transverse horizontal plane of the right-angle supporting seat 605 near the tail end, sleeves the cutter bar, and plays a role in guiding the displacement of the cutter bar, and the blade 60202 is provided with a semicircular cutter edge.
The leaf-picking motion travel switch touch rod 604 is divided into an upper touch rod 60401 and a lower touch rod 60402, the upper touch rod and the lower touch rod are respectively provided with a self-contained adjusting screw rod 60403, the distances between the upper touch rod and the travel switch contact can be respectively realized through a knob touch rod screw rod 60403, and positioning and adjustment are facilitated. For example, when the equipment is assembled, a screw rod needs to be manually adjusted, and the travel switch is triggered after the mulberry leaf picking device 6 reaches a specified position.
The right-angle support 605 is made of carbon steel, cast iron or aluminum alloy; the vertical outer side surface of the right-angle supporting seat 605 is fixed on the vertical sliding table 20102 through screws, the inner side surface of the right-angle supporting seat is assembled with a vertical displacement rack assembly 60101 through bolts, and the transverse horizontal plane is assembled with a transverse displacement rack assembly 60104 close to the right-angle end.
The mulberry leaf picking device has the following working principle and main functions: when a mulberry branch holding chuck of the mulberry branch holding device clamps a main part of a mulberry branch close to a mulberry shoot, so that the mulberry shoot is relatively stable and does not swing, the control unit controls a mulberry leaf picking servo motor and a driver V thereof to work and drives a ball screw on a closed transmission guide rail upright post 201 to rotate, and the vertical movement of a right-angle supporting seat 605 is realized; when one end of a leaf picking motion travel switch touch rod 604 touches an upper leaf picking travel switch III or a lower leaf picking travel switch IV, a leaf picking servo motor is controlled to work reversely to drive a ball screw to rotate reversely; the right-angle supporting seat 605 moves up and down to drive the rack and gear transmission mechanism component 601, and mulberry leaf picking operation is realized through the leaf picking cutter component 602.
In the embodiment, the mulberry leaf picking device realizes the automatic control of the mulberry leaf picking servo motor and the driver thereof under the induction of the upper mulberry leaf picking travel switch and the lower mulberry leaf picking travel switch, and the mulberry leaves are picked by driving the mulberry leaf picking cutter assembly through the up-and-down movement of the rack and gear transmission mechanism assembly, so that the efficiency of mulberry leaf picking is effectively increased.
The embodiment of the utility model provides a semi-automatic mulberry leaf picking machine, its whole working process is:
when a power switch arranged on a handle 108 of the mulberry leaf picking machine is manually turned on and the mulberry leaf picking machine is pushed to walk forwards, a mulberry tree rod passes through the mulberry picking machine along a V-shaped guide port 10703, in the process, when the mulberry tree rod at a high position touches a mulberry branch induction travel switch arranged on a mulberry branch supporting device 3, a sensor immediately feeds back a signal to a control unit, the control unit sends a command to prompt two mulberry branch supporting servo motors to support the mulberry branches, namely the left and right mulberry branch supporting servo motors work and drive a ball screw 30101 connected with the left and right mulberry branch supporting servo motors to rotate, the rotation of the ball screw 30101 enables the left and right screw transmission sliding tables 30103 to approach to the middle, namely a mulberry supporting clamp 303 arranged on the screw transmission sliding tables 30103 to fold towards the middle at the same time until a mulberry supporting motion travel switch in the middle of a chuck connecting plate 30302 touches the travel switch, the mulberry supporting servo motors stop working, meanwhile, the mulberry branch clamp 30301 clamps the main part of the mulberry branch close to the mulberry tip, so that the mulberry tip is relatively stable and does not swing.
At this time, the mulberry leaf picking servo motor starts to work and drives the ball screw on the closed transmission guide rail upright post 201 to rotate, the longitudinal transmission sliding table 20102 slides upwards under the rotating thrust of the ball screw, the mulberry leaf picking device 6 also moves upwards integrally until the top end face of the upward displacement of the longitudinal rack 6010101 touches the upper limit push rod 401, the longitudinal rack 6010101 starts to move downwards and drives the fixed gear assembly 60102 to rotate anticlockwise, so as to drive the transverse displacement rack assembly 60104 and the leaf picking cutter assembly 602 mounted on the rack to approach towards the mulberry tree rod, when the displacement distance exceeds the thrust reversing zero point of the auxiliary thrust torsion spring 6010104, the torsion spring 6010104 turns to auxiliary thrust from the original resistance immediately, the left and right leaf picking blades 60202 clamp the mulberry tree rod and keep a certain clamping force under the auxiliary thrust, at this time, the upper touch rod 60401 of the leaf picking motion stroke switch touch rod 604 on the mulberry leaf picking device 6 just touches the upper mulberry leaf stroke switch, the trigger control unit converts the instruction, so that the mulberry leaf picking servo motor works reversely to drive the ball screw to rotate reversely, and the longitudinal transmission sliding table 20102 also moves reversely (moves downwards), so that the mulberry leaf picking device 6 moves downwards to pick mulberry leaves.
When the mulberry leaf picking device 6 moves downwards until the lower limit push rod 501 abuts against the bottom end face of the longitudinal displacement rack 6010101, the longitudinal displacement rack 6010101 starts to move upwards and drives the fixed gear assembly 60102 to rotate clockwise, so that the transverse displacement rack assembly 60104 and the leaf picking cutter assembly 602 mounted on the rack are far away from a mulberry tree rod, when the displacement distance exceeds the thrust reversing zero point of the auxiliary thrust torsion spring 6010104, the torsion spring 6010104 is immediately turned from the original resistance to become auxiliary pushing force, the left and right leaf picking blades 60202 are kept away from the mulberry tree rod and kept in an opening state under the auxiliary pushing force, and at the moment, the lower touch rod 60402 of the leaf picking motion travel switch touch rod 604 on the mulberry leaf picking device just touches a lower mulberry leaf picking travel switch, and the trigger control unit changes instructions to stop the mulberry leaf picking servo motor. The mulberry leaves fall into the containing box 107, and a work cycle of picking the mulberry leaves is completed.
As shown in fig. 9, the electric control system of the present invention has the following working principle:
(1) starting, turning on a power switch by a semi-automatic mulberry leaf picking machine, and initializing;
(2) during the forward movement of the semi-automatic mulberry leaf picking machine, if a mulberry tree is sensed by a mulberry branch sensing travel switch, a mulberry branch servo motor and a driver thereof are started;
(3) judging whether the hibiscus leaf movement travel switch is in place or not, and starting a mulberry leaf picking servo motor and a driver thereof when the hibiscus leaf movement travel switch is in place; meanwhile, the mulberry twig supporting servo motor stops working, and the mulberry branch supporting device keeps clamping;
(4) when the mulberry leaf picking device moves upwards to the upper limit height of the upper limit push rod assembly, the upper mulberry leaf picking travel switch is touched, and the mulberry leaf picking servo motor is controlled to rotate reversely, so that the mulberry leaf picking device moves downwards;
(5) when the lower limit push rod assembly moves downwards to the lower limit height, the lower mulberry leaf picking travel switch is touched, the mulberry leaf picking device stops working, and mulberry leaves fall into the storage box; completing a work cycle of picking mulberry leaves.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A semi-automatic mulberry leaf picking machine is characterized in that: the method comprises the following steps: the device comprises an electric control system, a traveling device (1), a portal frame mechanism (2), a mulberry branch raising device (3), an upper limiting push rod component (4), a lower limiting push rod component (5) and a mulberry leaf picking device (6);
the electric control system comprises a control unit, and a power supply battery, a power switch, a mulberry twig induction travel switch (I), a mulberry leaf raising movement travel switch, a mulberry leaf raising servo motor and a driver (II) thereof, an upper mulberry leaf picking travel switch (III), a lower mulberry leaf picking travel switch (IV), a mulberry leaf picking servo motor and a driver (V) thereof which are respectively connected with the control unit;
the gantry frame mechanism (2) is arranged on the walking device (1); the power supply battery and the control unit are mounted on a cross beam of the gantry mechanism (2); the power switch is arranged on the walking device (1);
two longerons of portal frame mechanism (2), top-down installs in proper order: a mulberry branch supporting device (3), an upper limiting push rod component (4), a mulberry leaf picking device (6) and a lower limiting push rod component (5);
the mulberry twig induction travel switch (I), the mulberry twig supporting motion travel switch, the mulberry twig supporting servo motor and the driver (II) thereof are respectively arranged on the mulberry twig supporting device (3);
the control unit controls the mulberry twig supporting servo motor and the driver (II) thereof to work according to the signals of the mulberry twig induction travel switch (I) and the mulberry twig supporting motion travel switch, so as to realize the mulberry twig supporting operation of the mulberry twig supporting device (3);
the upper mulberry leaf picking travel switch (III) is arranged on the upper limiting push rod component (4); the lower mulberry leaf collecting travel switch (IV) is arranged below the lower limiting push rod assembly (5) and is positioned on the walking device (1); the mulberry leaf picking servo motor and a driver (V) thereof are arranged on a longitudinal beam of the portal frame mechanism (2);
the control unit controls a mulberry leaf picking servo motor and a driver (V) thereof according to signals of the upper mulberry leaf picking travel switch (III) and the lower mulberry leaf picking travel switch (IV), and drives a mulberry leaf picking device (6) to move up and down between the upper limit push rod assembly (4) and the lower limit push rod assembly (5) along two longitudinal beams of the gantry mechanism (2), so that the mulberry leaf picking operation of the mulberry leaf picking device (6) is realized.
2. The semi-automatic mulberry leaf picking machine according to claim 1, wherein: the walking device (1) comprises two symmetrical walking mechanisms; each running gear includes: the device comprises a directional roller assembly (101), a universal roller assembly (102), a supporting beam (105), a mulberry leaf containing box (107) and a handle (108);
the universal roller assembly (102) is installed at one end of the bottom of the supporting cross beam (105), the directional roller assembly (101) is installed at the other end of the bottom of the supporting cross beam, and the handle (108) is installed at one end, close to the directional roller assembly (101), of the top of the supporting cross beam; the power switch is mounted on the handle (108); the mulberry leaf containing box (107) is arranged on the inner side of the supporting beam (105);
the upper end surfaces of the two supporting cross beams (105) are fixedly connected with the two longitudinal beams of the portal frame mechanism (2) through right-angle connecting seats (7);
two corresponding mulberry leaf containing boxes (107) are separated by a preset distance; an oblique beam (10701) is arranged on the front side surface of the mulberry leaf containing box (107), one end of the oblique beam is connected with the inner side surface of the supporting beam (105), and the other end of the oblique beam is connected with an end point of the mulberry leaf containing box (107) far away from the supporting beam (105); a V-shaped guide opening is formed in the front half part between the two mulberry leaf containing boxes (107) and is used as a mulberry tree introducing opening; the back half part forms a long and narrow passage which is used as a passage for the mulberry.
3. The semi-automatic mulberry leaf picking machine according to claim 2, wherein: the orientation roller assembly (101) and/or the universal roller assembly (102) is connected with the supporting beam (105) through an adjustable assembly;
the adjustable assembly comprises: the height-adjustable supporting leg (103), the adjusting nut (104) and the locking nut (106);
the lower end of the height-adjustable supporting foot (103) is provided with a roller assembly, and the upper end of the height-adjustable supporting foot is arranged on the supporting beam (105) through a locking nut (106); the adjusting nut (104) is arranged on a transmission screw rod of the height-adjustable supporting foot (103).
4. The semi-automatic mulberry leaf picking machine according to claim 2, wherein: the cross section of the front end of the mulberry leaf containing box (107) is trapezoidal or triangular, so that the cross section of the long and narrow channel is isosceles trapezoid or isosceles triangle.
5. The semi-automatic mulberry leaf picking machine according to claim 1, wherein: the gantry mechanism (2) comprises two groups of closed transmission guide rail upright posts (201), two bridging cross beams (202) and an angle connecting piece (203);
the closed transmission guide rail upright post (201) forms a longitudinal beam; two ends of two bridging beams (202) are respectively arranged on two groups of closed transmission guide rail upright posts (201) through angle connecting pieces (203);
the closed transmission guide rail upright post (201) is provided with a ball screw, an end socket supporting seat (20101) of the ball screw, a sliding guide rail and a longitudinal transmission sliding table (20102); the upper limiting push rod assembly (4) is arranged on the sliding guide rail; the mulberry leaf picking device (6) is arranged on the longitudinal transmission sliding table (20102).
6. The semi-automatic mulberry leaf picking machine according to claim 5, wherein: the mulberry branch supporting device (3) comprises a left mulberry supporting mechanism and a right mulberry supporting mechanism which are symmetrical; each mulberry-raising mechanism consists of a transverse electric open type ball screw transmission assembly (301), a sliding guide rail assembly (302), a mulberry-raising clamp (303) and a transverse supporting seat (304);
the ball screw transmission assembly (301) and the sliding guide rail assembly (302) are arranged on the transverse supporting seat (304); the mulberry holding clamp (303) is mounted on the sliding guide rail assembly (302);
the ball screw transmission assembly (301) is provided with the hibiscus-raising branch servo motor and a driver thereof; the mulberry branch holding servo motor and the driver thereof drive the sliding guide rail assembly (302) through the ball screw transmission assembly (301) to drive the mulberry holding clamp (303) to horizontally move.
7. The semi-automatic mulberry leaf picking machine according to claim 6, wherein: the mulberry leaf picking device (6) comprises: the left mulberry leaf picking mechanism and the right mulberry leaf picking mechanism are symmetrical; each mulberry leaf picking mechanism consists of a rack and gear transmission mechanism component (601), a leaf picking cutter component (602), a cutter bar guide frame (603), a leaf picking motion travel switch touch rod (604) and a right-angle supporting seat (605);
the rack and pinion transmission mechanism assembly (601) and the leaf picking motion travel switch touch rod (604) are mounted on the right-angle supporting seat (605) and are close to the longitudinal vertical inner side surface of the right-angle supporting seat (605);
the cutter bar guide frame (603) is arranged on the horizontal plane of the right-angle supporting seat (605) and is far away from the vertical inner side surface of the right-angle supporting seat (605); the cutter bar guide frame (603) sleeves the leaf picking cutter assembly (602); the rack and pinion transmission mechanism assembly (601) is connected with the leaf picking cutter assembly (602);
two ends of the leaf picking motion travel switch touch rod (604) respectively correspond to the upper mulberry leaf picking travel switch (III) and the lower mulberry leaf picking travel switch (IV);
the control unit controls a mulberry leaf picking servo motor and a driver (V) thereof to work and drives a ball screw on the closed transmission guide rail upright post (201) to rotate so as to realize the up-and-down movement of the right-angle supporting seat (605); when one end of the leaf picking motion travel switch touch rod (604) touches the upper leaf picking travel switch (III) or the lower leaf picking travel switch (IV), the mulberry leaf picking servo motor is controlled to work reversely to drive the ball screw to rotate reversely;
the right-angle supporting seat (605) moves up and down to drive the rack and gear transmission mechanism assembly (601), and mulberry leaf picking operation is realized through the leaf picking cutter assembly (602).
8. The semi-automatic mulberry leaf picking machine according to claim 7, wherein: the upper limiting push rod assembly (4) comprises two groups of upper limiting mechanisms;
each upper limiting mechanism comprises: an upper limiting push rod (401), an upper adjusting screw (402), an upper locking nut (403) and an upper push rod bracket (404); each group of upper limiting mechanisms is arranged on the inner side surface of the upper half part of the corresponding closed transmission guide rail upright post (201);
the upper limiting push rod (401) is provided with a long round hole for adjusting the installation position and is fastened on the upper push rod support (404) through two screws; the upper push rod bracket (404) is provided with two mounting screw hole positions and adjusting screw holes, and the axial direction of each adjusting screw hole is vertical to the axial direction of the two screw holes; the upper adjusting screw (402) is assembled on the adjusting screw hole, and the axial direction of the upper adjusting screw is consistent with the axial direction of the upper limiting push rod (401) and is positioned on the same straight line;
the upper mulberry leaf picking travel switch (III) is arranged above the upper adjusting screw (402) and is positioned on the upper push rod bracket (404).
9. The semi-automatic mulberry leaf picking machine according to claim 7, wherein: the lower limiting push rod assembly (5) comprises two groups of lower limiting mechanisms;
each lower limiting mechanism comprises: a lower limiting push rod (501), a lower adjusting screw (502), a lower locking nut (503) and a lower push rod bracket (504); each group of lower limiting mechanisms is arranged on the inner side surface of the lower half part of the corresponding closed transmission guide rail upright post (201);
the lower limiting push rod (501) is provided with a long round hole for adjusting the installation position and is fastened on the lower push rod bracket (504) through two screws; the lower push rod support (504) is provided with two mounting screw hole positions and adjusting screw holes, and the axial direction of each adjusting screw hole is perpendicular to the axial direction of the two screw holes; the lower adjusting screw (502) is assembled on the adjusting screw hole, and the axial direction of the lower adjusting screw is axially consistent with the axial direction of the lower limiting push rod (501) and is positioned on a straight line.
10. The semi-automatic mulberry leaf picking machine according to claim 2, wherein: the right-angle connecting seat (7) is in the shape of an isosceles triangle, and the middle part of the right-angle connecting seat is hollow.
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| CN202021234617.7U CN212573584U (en) | 2020-06-29 | 2020-06-29 | Semi-automatic mulberry leaf picking machine |
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| CN111602511A (en) * | 2020-06-29 | 2020-09-01 | 广西师范大学 | Semi-automatic mulberry leaf picking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111602511A (en) * | 2020-06-29 | 2020-09-01 | 广西师范大学 | Semi-automatic mulberry leaf picking machine |
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