CN113317038B

CN113317038B - Mulberry leaf combined picking machine

Info

Publication number: CN113317038B
Application number: CN202110697407.4A
Authority: CN
Inventors: 胡迎春; 胡裔志; 覃增; 谭国栋; 周运刚; 秦建息; 胡金炬; 周鑫
Original assignee: Guangxi Normal University
Current assignee: Guangxi Normal University
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2022-12-13
Anticipated expiration: 2041-06-23
Also published as: CN113317038A

Abstract

The invention relates to a mulberry leaf combined picking machine, which comprises: the rear part of the walking device is provided with an accommodating device; an operating device, the operating device comprising: the conveying device is obliquely arranged on the walking device, one end of the conveying device, which inclines downwards, can lift relative to the walking device, the other end of the conveying device, which inclines upwards, is hinged to the top of the walking device, and an outlet at the top of the conveying device is arranged corresponding to the containing device; the picking device is arranged in the conveying device and is used for picking mulberry leaves; the buffer device is fixed at the top of the conveying device and is correspondingly arranged above the picking device; the guide device is arranged at the front end of the walking device; and the electric control device is electrically connected with the picking device and the conveying device. The invention discloses a mulberry leaf combined picking machine, which drives devices on an operating device to work cooperatively through a traveling device, realizes continuous picking of mulberry branches, improves picking efficiency, and does not need to adopt standardized planting of mulberry trees.

Description

Mulberry leaf combined picking machine

Technical Field

The invention relates to the technical field of mulberry leaf picking equipment, in particular to a mulberry leaf combined picking machine.

Background

The existing mulberry leaf picking machine realizes mechanization, lightens the labor intensity of mulberry farmers, but still does not realize a continuous picking mode; and to further improve the production efficiency.

Patent document CN109220193A discloses a mulberry leaf picking machine designed based on an excavator, which has a complicated structure, a long route of a conveying mechanism, a leaf beating mechanism installed on a shovel arm of the excavator, and a shovel arm extending only outside a mulberry field to carry out mulberry leaf picking operation, and is difficult to use in a large mulberry field, requiring an extension arm and having a high cost.

Patent document CN109451980A discloses that mulberry leaves are cut by using a hob mechanism in two liftable mulberry leaf picking mechanisms, and this method can only pick one mulberry at a time, and can not work continuously, and is inefficient.

Patent document CN110741806A discloses that mulberry branches cut mulberry leaves on mulberry branches by a guide rail mechanism with an inclined S-shaped spiral curve and a blade on the guide rail mechanism, but because the growth of the mulberry branches is messy and is possible to grow in all directions generally, the invention can only be used for mulberry trees planted in a very standardized way, and the scheme must be used only if the mulberry branches of the mulberry trees are basically on the same plane, otherwise the messy mulberry branches will be blocked in the guide rail with the S-shaped spiral curve.

The prior art has certain defects, such as complex mechanism, incapability of continuous operation, requirement of standardized planting of the mulberry and the like; therefore, how to provide a mulberry leaf combined picking machine is a problem which needs to be solved urgently by the technical personnel in the field.

Disclosure of Invention

Therefore, the invention aims to provide a mulberry leaf combined picking machine, which solves the problems that in the prior art, the transportation structure is complex, continuous operation cannot be realized, and mulberry trees need to be planted in a very standardized manner, so that the picking efficiency is low.

The invention provides a mulberry leaf combined picking machine, which comprises:

the rear part of the walking device is provided with a storage device;

an operating device, the operating device comprising: the conveying device is obliquely arranged on the walking device, one end of the conveying device, which inclines downwards, can lift relative to the walking device, one end of the conveying device, which inclines upwards, is hinged to the top of the walking device, and an outlet at the top of the conveying device is arranged corresponding to the containing device; the picking device is arranged in the conveying device and is used for picking mulberry leaves; the buffer device is fixed at the top of the conveying device and is correspondingly arranged above the picking device; the guiding device is arranged at the front end of the walking device;

and the electric control device is electrically connected with the picking device and the conveying device.

According to the technical scheme, compared with the prior art, the mulberry leaf combined picking machine is provided, the walking device drives the devices on the operating device to work in a matched mode, continuous picking of mulberry branches is achieved, picking efficiency is improved, and mulberry trees do not need to be planted in a standardized mode.

Furthermore, a cab is arranged on the walking device, a rotating shaft is arranged at the top of the cab, one end of the conveying device, which inclines upwards, is bent to form a horizontal section, the horizontal section is connected to the rotating shaft, and the horizontal section extends backwards to the position above the containing device; the inclined downward end of the conveying device is lifted through a hydraulic cylinder fixed on the walking device.

Further, the conveying device includes: the device comprises an outer frame structure, a belt conveyor and a driving motor; the outer frame structure is formed into two half box structures with openings in the middle through a plurality of aluminum plates, the bottom in each half box structure is provided with a belt conveyor, and the belt conveyors are driven to operate through a driving motor; the picking devices are the same as the belt conveyors in number, are arranged in the half box body structure, are positioned above the belt conveyors and are arranged in parallel with the belt conveyors, and the driving motors are electrically connected with the electric control device.

Furthermore, the belt conveyor comprises a belt, rotating shafts, a baffle and a tensioning wheel, wherein the bottom of the baffle is fixed in the half box body structure, two ends of the baffle are rotationally connected with the two rotating shafts, and one of the rotating shafts is in power connection with an output shaft of the driving motor; a tension wheel is arranged on the other rotating shaft; the belt is around locating two pivots, has a plurality of separation blades that are used for blockking that the mulberry leaf continues to move down after dropping the belt on the belt outer wall.

Further, each picking device comprises: the cutting tool comprises a cutting tool, a direct current motor and a cutting tool support, wherein the cutting tool support is fixed in a half box body structure, two groups of cutting tools are rotationally connected onto the cutting tool support, the cutting tool is driven to rotate through the direct current motor, and the direct current motor is electrically connected with an electric control device.

Further, the tool comprises: the cutter shaft, the blade, the fixing bolt and the cutter frame; the cutter frame is cross-shaped, a cutter shaft is arranged in the middle of the cutter frame along the length direction, one end of the cutter shaft is connected with a direct current motor through a coupler, the other end of the cutter shaft is rotatably supported on the cutter support, the blade is fixed on the cutter frame through a fixing bolt, and the blade is a rubber strip with waves on the edge.

Further, the buffer device includes: the buffer frame is fixed at the top of the outer frame structure, and forms a frame structure which is gradually reduced from the bottom to the top and is provided with two symmetrical buffer grooves through a plurality of angle steels, and each buffer groove corresponds to one picking device; one end of the bottom of the frame structure is connected through an iron plate, and the middle of the upper part of the frame structure is connected through a plurality of steel pipes; the gyro wheel sets up along the buffer slot transition department of buckling, and a plurality of gyro wheels arrange the position and reduce gradually towards the ramulus mori direction of buckling.

Furthermore, the guiding device is formed by connecting a plurality of bent pipes and an arc curved surface, and the arc curved surface is positioned in front of the walking device and is used for extruding and gathering fluffy and irregular mulberry branches together to form a stacking state.

Further, the storage device includes: the packaging machine comprises a bucket-shaped shell, a packaging bag conveying support shaft and a packaging mechanism; the hopper-shaped shell is fixed at the rear of the cab, the bottom of the hopper-shaped shell is provided with a mulberry outlet, two sides below the mulberry outlet are provided with two packaging bag conveying support shafts which are fixed at the rear of the cab through connecting rods, the packaging bags are positioned on the two packaging bag conveying support shafts and are positioned right below the mulberry outlet, and the packaging bags are wound on one packaging bag conveying support shaft; the weighing device is arranged on the packing mechanism, the packing mechanism is arranged below the packing bag and is connected with the traveling device through the horizontal cylinder, and the weighing device is used for weighing and blocking the falling of the packing bag.

Furthermore, a knife edge is arranged on the packaging mechanism, an electric heating wire is arranged on the knife edge, and the electric heating wire is used for cutting off the tooth-shaped grains on the packaging bag in a hot melting mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 and FIG. 2 are perspective views of a mulberry leaf combined picking machine according to the present invention;

FIG. 3 is a schematic view of the structure of the conveying device;

FIG. 4 shows a schematic view of the structure of the belt conveyor;

FIG. 5 shows a schematic view of the picking apparatus;

FIG. 6 is a schematic view of a cutter structure;

FIG. 7 is a schematic view of a damper arrangement;

FIG. 8 is a schematic view of the guide structure;

figures 9 and 10 accompanying drawings show schematic views of the storage device;

FIG. 11 is an enlarged view of section B of FIG. 9 showing the teeth on the bag;

FIG. 12 is a schematic view of the construction of the bag;

FIG. 13 is a schematic view of the packaging mechanism;

FIG. 14 shows an enlarged view of section C of FIG. 13;

in the figure: 100-traveling means, 101-horizontal cylinder, 102-hydraulic cylinder, 103-rotating shaft, 200-guiding means, 201-curved arc surface, 300-buffering means, 301-angle steel, 302-roller, 303-iron plate, 400-picking means, 401-cutter, 4011-cutter shaft, 4012-blade, 4013-fixing bolt, 4014-cutter holder, 402-direct current motor, 403-cutter holder, 500-conveying means, 501-outer frame structure, 502-belt conveyor, 5021-belt, 5022-rotating shaft, 5023-baffle, 5024-tension pulley, 503-driving motor, 600-receiving means, 601-bucket-housing, 6011-mulberry outlet, 602-bale bag, 6021-toothed texture, 6022-cut-off part, 60221-bag mouth edge, 603-bale bag conveying support shaft, 604-bale mechanism, 6041-weighing means, 6042-6042, 421-electric heating wire.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to the attached drawings 1-2, the embodiment of the invention discloses a mulberry leaf combined picking machine, which comprises: the walking device 100, the rear part of the walking device 100 is provided with a containing device 600; an operating device, the operating device comprising: the picking device comprises a guide device 200, a buffer device 300, a picking device 400 and a conveying device 500, wherein the conveying device 500 is obliquely arranged on the walking device 100, one end of the conveying device 500 which inclines downwards can lift relative to the walking device 100, one end of the conveying device which inclines upwards is hinged to the top of the walking device 100, and an outlet at the top of the conveying device 500 is arranged corresponding to the containing device 600; the picking device 400 is arranged in the conveying device 500 and is used for picking mulberry leaves; the buffer device 300 is fixed on the top of the conveying device 500 and is correspondingly arranged above the picking device 400; the guide device 200 is arranged at the front end of the walking device 100; and an electric control device electrically connected with the picking device 400 and the conveying device 500. The walking device can provide power and energy sources for the device. The running gear can be a tractor, a crawler or other running equipment.

The walking device can be provided with a plurality of groups of picking devices, and multi-row picking at one time can be realized.

Referring to fig. 2, the traveling device 100 is provided with a cab, a rotating shaft 103 is arranged at the top of the cab, one end of the conveying device 500, which is inclined upwards, is bent to form a horizontal section, the horizontal section is connected to the rotating shaft 103, and the horizontal section extends backwards to above the storage device 600; the end of the conveying device 500 inclined downward is lifted and lowered by the hydraulic cylinder 102 fixed to the traveling device 100. Therefore, the guide device, the buffer device, the picking device and the conveying device are prevented from blocking the sight of a driver when the driver runs on the road. The electrical control device may be mounted in the cab. Before picking operation, the picking device and the conveying device are lifted around the rotating shaft 103 by a push rod of the hydraulic cylinder 102, so that interference generated when the picking device passes through ridges and ditches is avoided. The mulberry leaf combined picking machine runs to a mulberry field to start operation, the guiding device is aligned to a row of mulberry trees, the running direction is parallel to the mulberry tree planting direction, and the forward running operation is started.

Referring to fig. 3, the conveying apparatus 500 includes: an outer frame structure 501, a belt conveyor 502 and a driving motor 503; the outer frame structure 501 is formed by a plurality of aluminum plates into two half-box structures with openings in the middle, a belt conveyor 502 is arranged at the bottom in each half-box structure, and the belt conveyors 502 are driven by a driving motor 503 to operate; the number of the picking devices 400 is the same as that of the belt conveyors 502, the picking devices are arranged in the half box body structure, are positioned above the belt conveyors 502 and are arranged in parallel with the belt conveyors 502, and the driving motors 503 are electrically connected with the electric control device. The cutter 401 of each group of picking devices is matched with a belt conveyor 502, and the inside of the outer frame structure 501 is arranged on the walking device through structures such as angle steel. The outer frame structure 501 can prevent the mulberry leaves from flying out of the transportation range of the belt conveyor 502 due to the inertia of the cutting force after being cut.

Referring to fig. 4, the belt conveyor 502 includes a belt 5021, a rotating shaft 5022, a baffle 5023 and a tension pulley 5024, the bottom of the baffle 5023 is fixed in the half-box structure, two rotating shafts 5022 are rotatably connected to two ends of the baffle 5023, and one rotating shaft 5022 is in power connection with an output shaft of the driving motor 503; a tension pulley 5024 is arranged on the other rotating shaft 5022; the belt 5021 is wound on the two rotating shafts 5022, and the outer wall of the belt 5021 is provided with a plurality of blocking pieces which are used for blocking the mulberry leaves from falling to the belt and then continuing to move downwards. The belt 5021 rotates along with the driving motor 503, and the cut mulberry leaves touch the outer frame structure 501 of the conveying device, then fall onto the belt 5021 on the belt conveyor 502, and finally reach the storage device through transportation.

Referring to fig. 5, each picking device 400 includes: the cutting tool comprises cutting tools 401, direct current motors 402 and a cutting tool support 403, wherein the cutting tool support 403 is fixed in a half box body structure and is rotatably connected with two groups of cutting tools 401, one cutting tool 401 is driven to rotate by the direct current motors 402, or the two direct current motors respectively drive the two cutting tools, and the direct current motors 402 are electrically connected with an electric control device. The direction of rotation of the two sets of cutters 401 is reversed, with the left cutters rotating counterclockwise and the right cutters rotating clockwise. The picking device is lifted and lowered through the hydraulic cylinder and the rotating shaft, and the angle between the picking device and the horizontal plane is adjusted.

Referring to fig. 6, the cutter 401 comprises: a tool shaft 4011, a blade 4012, a fixing bolt 4013, and a tool holder 4014; knife rest 4014 is the cross, its middle part is provided with cutter shaft 4011 along length direction, cutter shaft 4011 one end is passed through shaft coupling 404 and is connected direct current motor 402, the other end rotates and supports on cutter support 403, blade 4012 is fixed in on knife rest 4014 through fixing bolt 4013, blade 4012 is the rubber strip that the edge has the wave, harder mulberry branch can not be hurt to high-speed rotatory rubber strip, only can cut softer mulberry leaf from the mulberry branch, mulberry leaf after the cutting is along with the rotatory inertia of cutter 401, drop on band conveyer 501. Picking device accessible changes the width of different rubber strips, changes the distance between the cutter to satisfy and use on the mulberry of variation in size.

Obviously, the blade may be of other shapes and materials, such as a rectangular metal blade.

Referring to fig. 7, the buffering device 300 includes: the buffer frame is fixed at the top of the outer frame structure 501, and a frame structure which is gradually reduced from the bottom to the top and is provided with two symmetrical buffer grooves is formed by a plurality of angle steels 301, and each buffer groove corresponds to one picking device 400; one end of the bottom of the frame structure is connected through an iron plate 303, and the middle of the upper part of the frame structure is connected through a plurality of steel pipes 304; the rollers 302 are arranged along the bending transition position of the buffer groove, and the arrangement positions of the rollers 302 gradually decrease towards the bending direction of the mulberry twigs. The rollers 302 act to cushion the mulberry branches and reduce friction between the mulberry branches so that the mulberry branches do not intensively enter the picking device 4.

Referring to fig. 8, the guiding device 200 is formed by connecting a plurality of bent pipes and an arc curved surface 201, and the arc curved surface 201 is located in front of the walking device 100, and is used for squeezing and gathering fluffy irregular mulberry twigs together to form a stacked state; the mulberry branches on the mulberry are continuously guided into the buffer device through the continuous forward movement of the walking device.

Referring to fig. 9-12, the storage device 600 includes: a hopper-shaped shell 601, a packing bag conveying support shaft 603 and a packing mechanism 604; the hopper-shaped shell 601 is fixed at the rear of the cab, the bottom of the hopper-shaped shell is provided with a mulberry outlet 6011, two sides below the mulberry outlet 6011 are provided with two bagging conveying support shafts 603 fixed at the rear of the cab through connecting rods, a bagging 602 is a long thin film and is positioned on the two bagging conveying support shafts 603 and right below the mulberry outlet 6011, and the bagging 602 is wound on one bagging conveying support shaft 603; the packing mechanism 604 is provided with a weighing device 6041, and the packing mechanism 604 is arranged below the packing bag 602 and is connected with the walking device 100 through the horizontal cylinder 101 for weighing and blocking the falling of the packing bag 602.

Referring to fig. 13-14, the packaging mechanism 604 has a knife edge 6042, the knife edge 6042 has a heating wire 60421, and the heating wire 60421 is used for thermally melting and cutting the toothed texture 6021 on the packaging bag 602.

The mulberry leaves fall to a packaging bag 602 of a receiving device through a belt conveyor 501, a rapidly-broken toothed texture 6021 is arranged on the packaging bag 602 and can be rapidly cut off through a knife edge 6042 on a packaging mechanism 604, a heating wire 60421 is arranged on the knife edge 6042 and is close to the edge of the toothed texture 6021 of the packaging bag 602 and vertically cut off relative to the packaging bag 602, the toothed texture 6021 is the weakest and easiest-to-tear part of the packaging bag 602, the heating wire 60421 thermally melts the toothed texture 6021, so that the bag mouth edge 60221 of the packaging bag 602 is mutually fused, the cut-off part 6022 is disconnected with the packaging bag 602, and one-time packaging is completed. The bag 602 is mounted on the bag support shaft 603, the transfer of a new bag 602 into position is detected by the inductive switch, the bag 602 is a flat film, and the bag 602 is flat without any mulberry leaves. The original flat film is bent by the weight of the accommodated mulberry leaves to form a circular arc shape in the figure.

When the weighing device 6041 on the packaging mechanism 604 detects that the picked mulberry leaves reach the weight threshold value, after the packaging mechanism 604 is started, the packaging mechanism 604 is driven by the horizontal cylinder 101 to integrally move along the direction A, the knife edge 6042 compresses the packaging bag 602 to enable the bag mouth edges 60221 of the mulberry leaf-containing part 6022 of the packaging bag 602 to be overlapped together, the knife edge 6042 is provided with the heating wire 60421, the heating wire 60421 is electrified to enable the toothed texture 6021 to be hot-melted, the bag mouth edges 60221 of the packaging bag 602 are mutually fused together, the packaging bag 602 is disconnected from the cut part 6022, and packaging is completed. The packaging bag conveying support shaft 603 rotates under the action of external force, a new section of the packaging bag 602 is conveyed to a proper position, and continuous picking operation can be realized.

In the scheme, the weighing device can independently acquire weight data, and in order to form an integral systematization, the weighing device is electrically connected with the electric control device, and the electric heating wire can be independently controlled or directly connected with the electric control device.

The mulberry leaf combined picking machine is moved to a farmland through a walking device, the direction is adjusted, and the mulberry leaf combined picking machine walks along the mulberry planting direction. The mulberry leaves are picked, the guide device guides messy mulberry branches into the buffer device, the mulberry branches reach the picking device, the two groups of cutters of the picking device pick the mulberry leaves off the mulberry branches and drop the mulberry leaves onto the conveyor of the conveying device, and the conveyor conveys the mulberry leaves into the packaging bag of the storage device. Weigh when accomodating the mulberry leaf, whether the mulberry leaf threshold value is accomodate in the measurement, if do not reach and continue to accomodate, if reached the threshold value, then stop accomodating the mulberry leaf, then pack, accomplish the packing back, unload the mulberry leaf bag, switch new baling bag, return and carry out the mulberry leaf of accomodating of new round again, reach the function of automatic accomodating.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A mulberry leaf combined picking machine is characterized by comprising:

the walking device (100), wherein the rear part of the walking device (100) is provided with a storage device (600);

an operating device, the operating device comprising: the picking device comprises a guiding device (200), a buffering device (300), a picking device (400) and a conveying device (500), wherein the conveying device (500) is obliquely arranged on the walking device (100), one end of the conveying device, which inclines downwards, can lift relative to the walking device (100), one end of the conveying device, which inclines upwards, is hinged to the top of the walking device (100), and an outlet in the top of the conveying device (500) is arranged corresponding to the containing device (600); the picking device (400) is arranged in the conveying device (500) and is used for picking mulberry leaves; the buffer device (300) is fixed on the top of the conveying device (500) and is correspondingly arranged above the picking device (400); the guide device (200) is arranged at the front end of the walking device (100);

and an electrical control device electrically connected to the picking device (400) and the conveying device (500);

the walking device (100) is provided with a cab, the top of the cab is provided with a rotating shaft (103), one end of the conveying device (500) which inclines upwards is bent to form a horizontal section, the horizontal section is connected to the rotating shaft (103), and the horizontal section extends backwards to the position above the accommodating device (600); the inclined downward end of the conveying device (500) is lifted through a hydraulic cylinder (102) fixed on the walking device (100);

the housing device (600) comprises: a bucket-shaped shell (601), a packing bag conveying support shaft (603) and a packing mechanism (604); the hopper-shaped shell (601) is fixed at the rear of the cab, the bottom of the hopper-shaped shell is provided with a mulberry outlet (6011), two sides below the mulberry outlet (6011) are provided with two packaging bag conveying support shafts (603) which are fixed at the rear of the cab through connecting rods, a packaging bag (602) is positioned on the two packaging bag conveying support shafts (603) and is positioned right below the mulberry outlet (6011), and the packaging bag (602) is wound on one packaging bag conveying support shaft (603); the packaging mechanism (604) is provided with a weighing device (6041), the packaging mechanism (604) is arranged below the packaging bag (602) and is connected with the walking device (100) through a horizontal cylinder (101) and used for weighing and blocking the packaging bag (602) from falling;

the damping device (300) comprises: the buffer frame is fixed at the top of the conveying device (500) and forms a frame structure which is gradually reduced from the bottom to the top and is provided with two symmetrical buffer grooves through a plurality of angle steels (301), and each buffer groove corresponds to one picking device (400); one end of the bottom of the frame structure is connected through an iron plate (303), and the middle of the upper part of the frame structure is connected through a plurality of steel pipes (304); the rollers (302) are arranged along the bending transition position of the buffer groove, and the arrangement positions of the rollers (302) gradually decrease towards the bending direction of the mulberry twigs;

the guiding device (200) is formed by connecting a plurality of bent pipes and an arc curved surface (201), and the arc curved surface (201) is positioned in front of the walking device (100) and used for extruding and gathering fluffy and irregular mulberry branches together to form a stacking state.

2. A mulberry leaf combine harvester according to claim 1, wherein the delivery means (500) comprises: an outer frame structure (501), a belt conveyor (502) and a driving motor (503); the outer frame structure (501) is formed into two half box structures with openings in the middle through a plurality of aluminum plates, a belt conveyor (502) is arranged at the bottom in each half box structure, and the belt conveyors (502) are driven to operate through a driving motor (503); the number of the picking devices (400) is the same as that of the belt conveyors (502), the picking devices are arranged in the half box body structure, are positioned above the belt conveyors (502) and are arranged in parallel with the belt conveyors (502), and the driving motors (503) are electrically connected with the electric control device.

3. The mulberry leaf combined picking machine according to claim 2, wherein the belt conveyor (502) comprises a belt (5021), rotating shafts (5022), baffles (5023) and a tension pulley (5024), the bottoms of the baffles (5023) are fixed in the half box body structure, two rotating shafts (5022) are rotatably connected to two ends of each baffle (5023), and one rotating shaft (5022) is in power connection with an output shaft of the driving motor (503); a tension wheel (5024) is arranged on the other rotating shaft (5022); the belt (5021) is wound on the two rotating shafts (5022), and a plurality of separation blades used for preventing the mulberry leaves from falling to the belt and then continuing to move downwards are arranged on the outer wall of the belt (5021).

4. A mulberry leaf combined picking machine according to claim 2, wherein each picking device (400) comprises: cutter (401), direct current motor (402) and cutter holder (403), cutter holder (403) are fixed in the half box structure, it is connected with two sets of to rotate on it cutter (401), cutter (401) pass through direct current motor (402) drive the rotation, direct current motor (402) electric connection electrically controlled device.

5. A mulberry leaf co-picking machine according to claim 4, wherein the cutter (401) comprises: a tool shaft (4011), a blade (4012), a fixing bolt (4013), and a tool holder (4014); knife rest (4014) are the cross, and its middle part is provided with along length direction knife tool shaft (4011), shaft coupling (404) are passed through to knife tool shaft (4011) one end and are connected direct current motor (402), the other end rotate support in on cutter holder (403), blade (4012) are passed through fixing bolt (4013) are fixed in on knife rest (4014), blade (4012) have the rubber strip of wave for the edge.

6. The mulberry leaf combined picking machine according to claim 1, wherein the packaging mechanism (604) is provided with a knife edge (6042), the knife edge (6042) is provided with a heating wire (60421), and the heating wire (60421) is used for cutting off the tooth-shaped lines (6021) on the packaging bag (602) in a hot melting way.