CN112978332B - An automatic feeding device for cutting willow branches and feeding method thereof - Google Patents

Abstract

The invention discloses an automatic feeding device for cutting willow branches and a feeding method thereof. At present, there is no relevant device for automatic feeding of cuttings and willow branches. The V-groove plate of the present invention is fixed to the bottom plate; the bottom openings of several V-shaped grooves of the V-groove plate are aligned with the long grooves of the bottom plate one by one; the material bin is placed directly above the V-groove plate; Pushing fingers equal to the number of V-shaped grooves; chain drive mechanism drives L-shaped push plate; one end of the end effector is hinged with the frame; the end effector is provided with the same number of V-shaped grooves. A cover plate is hinged through the rotating shaft; a torsion spring is sleeved on the rotating shaft; the output station of the end effector is provided with an L-shaped baffle equal to the number of V-shaped grooves; the overturning drive mechanism drives the end effector to connect with the output at the receiving station Flip between stations; the feeder is located directly below the output station. The invention realizes the automatic discharging, reclaiming and feeding of the wicker, so that the wicker is transported one by one to each rotor cup in the cutting planting device.

Description

An automatic feeding device for cutting willow branches and feeding method thereof

technical field

The invention belongs to the technical field of forestry machinery, and in particular relates to an automatic feeding device for cutting and willow branches and a feeding method thereof.

Background technique

At present, most of the links in the process of planting flowers and seedlings have basically achieved mechanized operations, but there are no mature technologies and products for planting machinery and equipment for cuttings and willow branches. At present, cutting willow branches mainly use semi-automatic planting machinery to complete their soil entry operations, but during the entire cutting and planting operation, the feeding operation of willow cuttings still needs to be completed manually, resulting in high production costs, high labor intensity and operational efficiency. lower issues. At present, there is no relevant device for automatic feeding of willow cuttings on the market, so it is necessary to develop a device for automatic discharging, reclaiming and feeding of willow cuttings.

SUMMARY OF THE INVENTION

The purpose of the present invention is to aim at the deficiencies of the prior art, to provide an automatic feeding device for cutting willow branches and a feeding method thereof, so as to realize the automatic discharging, reclaiming and feeding of willow cuttings, and at the same time of completing the automatic feeding operation Further improve the efficiency of cutting planting.

The technical problem to be solved by this invention adopts the following technical solutions to realize:

The invention relates to an automatic feeding device for cutting and willow branches, comprising a first driving device, a second driving device, a bottom plate, a V-shaped groove plate, a silo, a discharging device, a reclaiming device and a feeding device; the bottom plate is fixed on the frame The bottom plate is provided with a number of long grooves; the V-shaped groove plate is fixed on the bottom plate; The bottom opening of the groove is aligned with each long groove one by one; the length of the V-shaped groove is less than the length of the long groove; the material bin is placed directly above the V-shaped groove plate and is fixed with the bottom plate; the discharging device Located directly below the V-shaped groove plate, it includes a chain transmission mechanism and an L-shaped push plate; the chain transmission mechanism drives the L-shaped push plate; the L-shaped push plate is provided with a number of integrally formed push fingers; the number of push fingers The number is equal to the number of V-shaped grooves, and each push finger is aligned with each V-shaped groove one by one; the reclaiming device includes a turning drive mechanism and an end effector; the turning drive mechanism drives the end effector intermittently. Flip movement between the station and the output station; the end effector is placed at the output end of the V-shaped groove plate, and the end away from the V-shaped groove plate is hinged with the frame; the end effector is provided with the number of V-shaped grooves Equal feeding troughs, each feeding trough is provided with a feeding port on the side wall of the V-shaped groove plate, and the top of each feeding trough is hinged with a cover plate through the rotating shaft; the rotating shaft is sleeved with a torsion spring; the end The output station of the actuator is provided with an L-shaped baffle equal to the number of V-shaped grooves, and the L-shaped baffle is fixed on the frame; along the V-shaped groove arrangement direction of the V-shaped groove plate, the end effector Each feeding slot of the 10000 is aligned with each V-shaped groove and each L-shaped baffle; the feeding device is located just below the output station of the end effector; the feeding device includes a driving roller, a driven roller , conveyor belt and partition plate; the driving roller and the driven roller form a rotating pair with the frame; the driving roller is driven by the second driving device; the driven roller and the driving roller are connected through the conveyor belt; The sides are provided with a number of dividing plates evenly distributed along the circumference direction of the conveyor belt; the conveyor belt is arranged along the V-groove arrangement direction of the V-groove plate. The first driving device provides power to the chain transmission mechanism and the overturning driving mechanism at the same time, and the second driving device provides power to the driving drum.

Preferably, the included angle between the two side walls of the V-shaped groove is 60°.

Preferably, the two end surfaces of the cover plate and the end effector are hinged through two rotating shafts aligned with the central axis, and the rotating shafts are spaced from the two side surfaces vertically arranged on the cover plate.

Preferably, one end of the torsion spring is fixed to the rotating shaft, and the other end is fixed to the cover plate.

Preferably, the chain transmission mechanism includes a single-row sprocket shaft, an active single-row sprocket, a driven single-row sprocket and a discharging device chain; the two active single-row sprockets are driven synchronously by the first driving device; The sprocket shaft and the frame form a rotating pair, the distance between the two driven single-row sprockets is fixed on the single-row sprocket shaft, and each driven single-row sprocket is connected with a driving single-row sprocket through a discharge device chain; The length of the discharge device chain is less than the length of the long groove; the two ends of the L-shaped push plate are respectively fixed with the two discharge device chains; the L-shaped push plate is provided with two pieces, and one of the L-shaped push plates is located at the outlet. When the upper belt section of the feeding device chain is placed, another L-shaped push plate is located on the lower belt section of the discharging device chain.

Preferably, the overturning drive mechanism includes an incomplete gear mechanism and a combined link mechanism; the incomplete gear mechanism includes a driving incomplete gear, a driven gear, a driving buffer, a driven buffer, and a convex lock The arc and concave lock arc; the gear installation shaft and the crank shaft form a rotating pair with the frame; the gear installation shaft is driven by the first drive device; the active incomplete gear is fixed on the gear installation shaft; the active buffer and convex The locking arcs are all sleeved on the gear installation shaft, and are fixed with the driving incomplete gear; the driven gear is fixed on the crankshaft; the driven buffer and the concave locking arc are all sleeved on the crankshaft, And both are fixed with the driven gear; when the concave locking arc and the convex locking arc are separated, the driven buffer and the active buffer are frictionally driven, and the driven gear meshes with the toothed part of the driving incomplete gear; When the toothed part of the active incomplete gear is separated, the concave locking arc and the convex locking arc are frictionally driven; the combined connecting rod mechanism includes a crank, a connecting rod, a rocker, a slider and a sliding rail; one end of the crank is connected to the The crankshaft is fixed, and the other end is hinged with one end of the connecting rod; the other end of the connecting rod is hinged with one end of the rocker; the other end of the rocker is hinged with the frame; the slider is fixed on the hinge shaft of the connecting rod and the rocker, and A sliding pair is formed with the guide rail fixed on the frame; the combined link mechanism is provided with two symmetrically arranged on both sides of the end effector.

Preferably, the first driving device includes a first stepping motor, a driving sprocket, a driven sprocket, a driving device chain, a first driving synchronous pulley and a first driven synchronous pulley; the first stepping motor The base is fixed on the frame; the driving sprocket shaft and the driven sprocket shaft both form a rotating pair with the frame, and the driving sprocket shaft and the output shaft of the first stepping motor are connected by a coupling; the driving sprocket and The first drive synchronous pulley is fixed on the drive sprocket shaft; the driven sprocket is fixed on the driven sprocket shaft, and is connected with the drive sprocket through the drive device chain; the first driven synchronous pulley is connected with the drive synchronous pulley The first is connected by a synchronous belt; the chain transmission mechanism is driven by the driving sprocket shaft, and the overturning driving mechanism is driven by the driven synchronous pulley.

Preferably, the second driving device includes a second stepping motor, a second active synchronous pulley and a second driven synchronous pulley; the base of the second stepping motor is fixed on the frame; the active synchronous pulley The second pulley is fixed on the output shaft of the second stepping motor; the second driven synchronous pulley is connected with the second driven synchronous pulley through the synchronous belt; the driving drum of the feeding device is fixed with the second driven synchronous pulley.

The feeding method of the automatic feeding device for cutting and willow branches is as follows:

Step 1. Put a batch of switch branches horizontally into the silo, and the switch branches fall into each V-shaped groove of the V-shaped groove plate under the action of gravity;

Step 2. The first driving device drives the chain transmission mechanism and the overturning driving mechanism; the chain transmission mechanism drives the L-shaped push plate. When each push finger of the L-shaped push plate is embedded in the corresponding V-shaped groove, each push finger is connected to the corresponding V-shaped groove. The willow branches inside contact, push the willow branches in each V-shaped groove to be conveyed to the corresponding feeding port of the end effector; The willow branches placed in the silo fall into each V-shaped groove of the grooved plate. At the same time, the overturning drive mechanism drives the end effector to turn over from the receiving station to the output station; when the end effector is in the output station, the end effector is turned over. Under the action of the corresponding L-shaped baffle, each cover plate on the actuator opens the corresponding receiving chute. Since the feeding device directly under the output station of the actuator is driven by the second driving device, the conveyor belt of the feeding device keeps running, so each The willow branches in the feeding trough respectively fall into different gaps formed by the partition plates on the conveyor belt of the feeding device. Then, the turning drive mechanism drives the end effector to turn from the output station to the receiving station. At this time, Each cover plate is not affected by the L-shaped baffle, and re-covers the corresponding material receiving trough under the action of the restoring force of the torsion spring.

Step 3: Repeat step 2 until all the willow branches in the silo are transported.

Preferably, the process of driving the end effector by the inversion driving mechanism is as follows:

During the meshing process of the driving incomplete gear and the driven gear, the driven gear is driven to rotate, and the rotation of the driven gear drives the rocker to swing through the crank and connecting rod, so that the rocker drives the end effector to complete the flip to the output station and back to the output station. A cyclic movement process of the receiving station; while the end effector is turned over, the slider on the rocker slides along the slide rail.

The beneficial effects that the present invention has:

The invention realizes the automatic discharging, reclaiming and feeding of the willow cuttings, so that the willow cuttings are arranged in an orderly, equidistantly, and stably transported to each rotating cup in the cutting planting device; and the automatic feeding operation is completed. At the same time, it further improves the operation efficiency of cutting planting.

Description of drawings

1 is a perspective view of the overall structure of the present invention;

Fig. 2 is the side view of the present invention;

Fig. 3 is the top view of the present invention;

4 is an assembly perspective view of a bottom plate and a V-groove plate in the present invention;

Fig. 5 is the assembled side view of the bottom plate, the V-groove plate and the silo of the present invention;

6 is a structural perspective view of an L-shaped push plate in the present invention;

7 is a schematic structural diagram of an incomplete gear mechanism in the present invention;

8 is a perspective view of the structure of the present invention after removing the bottom plate, the V-groove plate and the silo;

In the picture: 1. Rack, 2. Silo, 3. Discharging device, 4. Reclaiming device, 5. Feeding device, 6. First step motor, 7. Driving sprocket, 8. Driven sprocket , 9, one active synchronous pulley, 10, one driven synchronous pulley, 11, the second stepper motor, 12, two active synchronous pulleys, 13, two driven synchronous pulleys, 14, V-groove plate, 15, L-shaped push plate, 16, incomplete gear mechanism, 16-1, driving incomplete gear, 16-2, driven gear, 16-3, convex locking arc, 16-4, concave locking arc, 16 -5, active buffer, 16-6, driven buffer, 17, end effector, 18, crank, 19, connecting rod, 20, rocker, 21, driving roller, 22, driven roller, 23, conveyor belt , 24, L-shaped baffle.

Detailed ways

The present invention is further described below in conjunction with specific embodiments.

As shown in Figures 1, 2, 3, 4, 5 and 6, an automatic feeding device for cutting and willow branches includes a first driving device, a second driving device, a bottom plate, a V-shaped groove plate 14, a silo 2, an outlet The bottom plate is fixed on the frame 1; the bottom plate is provided with a number of long grooves; the V-shaped groove plate 14 is fixed on the bottom plate; And the number of V-shaped grooves is equal to the number of long grooves, and the bottom opening of each V-shaped groove is aligned with each long groove; the length of the V-shaped groove is less than the length of the long groove; the silo 2 is placed on the V-shaped groove plate 14 is directly above, and is fixed with the bottom plate; the discharging device 3 is located directly under the V-shaped groove plate 14, including a chain transmission mechanism and an L-shaped push plate 15; the chain transmission mechanism drives the L-shaped push plate 15; the L-shaped push plate 15 is provided with Several push fingers are integrally formed; the number of push fingers is equal to the number of V-shaped grooves, and each push finger is aligned with each V-shaped groove one by one; the reclaiming device 4 includes a turning drive mechanism and an end effector 17; the turning drive mechanism drives the end The actuator 17 intermittently flips between the receiving station and the output station; the end effector 17 is placed at the output end of the V-groove plate 14, and the end away from the V-groove plate 14 is hinged with the frame; the end effector Piece 17 is provided with feeding troughs equal to the number of V-shaped grooves, each feeding groove is provided with a feeding port on the side wall facing the V-shaped groove plate 14, and the top of each feeding groove is hinged with a cover through a rotating shaft The rotating shaft is sleeved with a torsion spring; the output station of the end effector 17 is provided with L-shaped baffles 24 equal to the number of V-shaped grooves, and the L-shaped baffles 24 are fixed on the frame; along the V-shaped groove plate 14 The V-groove arrangement direction of the end effector 17 is aligned one by one with each V-shaped groove and each L-shaped baffle; the feeding device 5 is located at the output station of the end effector 17. Below; the feeding device 5 includes a driving roller 21, a driven roller 22, a conveyor belt 23 and a partition plate; both the driving roller 21 and the driven roller 22 form a rotating pair with the frame 1; the driving roller 21 is driven by the second driving device; The driven roller 22 and the driving roller 21 are connected by the conveyor belt 23; the outer side of the conveyor belt 23 is provided with a number of partition plates that are evenly distributed along the circumference of the conveyor belt; cloth orientation. The first driving device provides power to the chain drive mechanism and the overturning driving mechanism at the same time, and the second driving device provides power to the driving drum 21 .

As a preferred embodiment, the included angle between the two side walls of the V-shaped groove is 60°.

As a preferred embodiment, as shown in FIG. 3 , the two end surfaces of the cover plate and the end effector 17 are hinged through two rotating shafts aligned with the central axis, and the rotating shafts are spaced from the two sides vertically arranged on the cover plate.

As a preferred embodiment, one end of the torsion spring is fixed to the rotating shaft, and the other end is fixed to the cover plate.

As a preferred embodiment, as shown in Figures 1, 2 and 8, the chain transmission mechanism includes a single-row sprocket shaft, a driving single-row sprocket, a driven single-row sprocket and a discharge device chain; two driving single-row sprockets It is driven synchronously by the first driving device; the single-row sprocket shaft and the frame 1 constitute a rotating pair, the distance between the two driven single-row sprockets is fixed on the single-row sprocket shaft, and each driven single-row sprocket is connected to an active single-row sprocket. The sprocket is connected by a chain of the discharge device; the length of the chain of the discharge device is less than the length of the long groove; the two ends of the L-shaped push plate 15 are respectively fixed with the two chains of the discharge device; the L-shaped push plate 15 is provided with two pieces, When one of the L-shaped push plates 15 is located on the upper section of the chain of the discharge device, the other L-shaped push plate 15 is located at the lower section of the chain of the discharge device.

As a preferred embodiment, as shown in Figures 1, 2, 7 and 8, the overturning drive mechanism includes an incomplete gear mechanism 16 and a combined link mechanism; the incomplete gear mechanism 16 includes a driving incomplete gear 16-1, a driven Gear 16-2, active buffer member 16-5, driven buffer member 16-6, convex locking arc 16-3 and concave locking arc 16-4; both the gear mounting shaft and the crank shaft constitute a rotating pair with the frame; The gear installation shaft is driven by the first drive device; the active incomplete gear 16-1 is fixed on the gear installation shaft; the active buffer member 16-5 and the convex locking arc 16-3 are both empty sleeves on the gear installation shaft, and are connected with the gear installation shaft. The driving incomplete gear 16-1 is fixed; the driven gear 16-2 is fixed on the crankshaft; the driven buffer 16-6 and the concave locking arc 16-4 are both empty sleeves on the crankshaft, and both are connected with the driven gear 16-2 is fixed; when the concave locking arc 16-4 and the convex locking arc 16-3 are separated, the driven buffer 16-6 and the active buffer 16-5 are frictionally driven, and the driven gear 16-2 is not connected to the drive. The toothed part of the complete gear 16-1 meshes; when the driven gear 16-2 is separated from the toothed part of the driving incomplete gear 16-1, the concave locking arc 16-4 and the convex locking arc 16-3 are frictionally driven; The combined connecting rod mechanism includes a crank 18, a connecting rod 19, a rocker 20, a slider and a slide rail; one end of the crank 18 is fixed with the crank shaft, and the other end is hinged with one end of the connecting rod 19; the other end of the connecting rod 19 is connected with the rocker One end of 20 is hinged; the other end of the rocker 20 is hinged with the frame; the slider is fixed on the hinge shaft of the connecting rod 19 and the rocker 20, and forms a sliding pair with the guide rail fixed on the frame; the combined link mechanism is provided with Two symmetrically arranged on either side of the end effector 17 .

As a preferred embodiment, as shown in Figures 2 and 3, the first driving device includes a first stepping motor 6, a driving sprocket 7, a driven sprocket 8, a driving device chain, a driving synchronous pulley-9 and a driven Synchronous pulley one 10; the base of the first stepping motor 6 is fixed on the frame 1; the driving sprocket shaft and the driven sprocket shaft form a rotating pair with the frame 1, and the driving sprocket shaft and the first stepping motor 6 are connected. The output shaft is connected by a coupling; the driving sprocket 7 and the driving synchronous pulley-9 are fixed on the driving sprocket shaft; the driven sprocket 8 is fixed on the driven sprocket shaft, and is connected with the driving sprocket 7 through the driving device chain connected; the driven synchronous pulley 10 and the active synchronous pulley 1 9 are connected by a synchronous belt; the chain transmission mechanism is driven by the driving sprocket shaft (the two active single-row sprockets of the chain transmission mechanism are both fixed on the driving sprocket shaft), The turning drive mechanism is driven by a driven synchronous pulley one 10 (the driven synchronous pulley one 10 is fixed with the gear mounting shaft of the turning driving mechanism).

As a preferred embodiment, as shown in FIGS. 2 and 3 , the second driving device includes a second stepping motor 11 , a second driving synchronous pulley 12 and a second driven synchronous pulley 13 ; the base of the second stepping motor 11 is fixed On the frame 1; the second active synchronous pulley 12 is fixed on the output shaft of the second stepping motor 11; the second driven synchronous pulley 13 and the second active synchronous pulley 12 are connected by a synchronous belt; the driving roller of the feeding device 5 21 is fixed with the second driven synchronous pulley 13 .

The feeding method of the automatic feeding device for cutting and willow branches is as follows:

Step 1, place a batch of switch branches horizontally into the silo 2, and the switch branches fall into each V-shaped groove of the V-shaped groove plate 14 under the action of gravity;

Step 2: The first driving device drives the chain transmission mechanism and the overturning driving mechanism; the chain transmission mechanism drives the L-shaped push plate 15. When the push fingers of the L-shaped push plate 15 are embedded in the corresponding V-shaped grooves, the push fingers are connected to the corresponding V-shaped grooves. The willow branches in the groove contact, and push the willow branches in each V-shaped groove to be transported to the corresponding feeding port of the end effector 17; After the trough, the willow branches placed in the silo 2 fall into each V-shaped groove of the V-shaped groove plate 14, and at the same time, the turning drive mechanism drives the end effector 17 to turn from the receiving station to the output station, as shown in the figure. 8; when the end effector 17 is in the output station, each cover plate on the end effector 17 opens the corresponding feeding slot under the action of the corresponding L-shaped baffle 24, because the feeding device directly below the output station of the execution member 17 5 is driven by the second driving device, and the conveyor belt 23 of the feeding device 5 keeps running all the time, then the willow branches in each feeding trough fall into the different gaps formed by the partition plates on the conveyor belt 23 of the feeding device 5 respectively, Subsequently, the overturning drive mechanism drives the end effector 17 to turn over from the output station to the material receiving station, as shown in FIG. 1 , at this time, each cover plate is not affected by the L-shaped baffle 24, and is restored under the action of the restoring force of the torsion spring. Cover the corresponding spout.

Step 3: Repeat Step 2 until all the willow branches in the silo 2 are transported.

The process of driving the end effector 17 by the inversion driving mechanism is as follows:

During the meshing process of the driving incomplete gear 16-1 and the driven gear 16-2, the driven gear 16-2 is driven to rotate, and the rotation of the driven gear 16-2 drives the rocker 20 to swing through the crank 18 and the connecting rod 19, making the rocker 16-2 swing. The rod 20 drives the end effector 17 to complete a cyclic movement process of turning to the output station and turning back to the receiving station; and during the turning of the end effector 17, the slider on the rocker 20 slides along the slide rail.

The present invention realizes the links of automatic discharging, reclaiming and feeding of switch branches, and the feeding device 5 can further send the switch branches on the conveyor belt 23 to each rotor cup of the cutting planting device in the next process to complete the cutting process. The planting device automatically feeds the switch branches; and the cutting planting device completes the cutting operation of the switch branches.

Claims (10)

1. an automatic feeding device for cutting and willow branches, comprising a base plate and a silo, and is characterized in that: also comprise a first drive device, a second drive device, a V-shaped groove plate, a discharging device, a reclaiming device and a feeding device; The bottom plate is fixed on the frame; the bottom plate is provided with a plurality of long grooves; the V-shaped groove plate is fixed on the bottom plate; The bottom opening of each V-shaped groove is aligned with each long groove one by one; the length of the V-shaped groove is less than the length of the long groove; the silo is placed directly above the V-shaped groove plate, and is fixed with the bottom plate; The discharging device is located directly below the V-shaped groove plate, and includes a chain transmission mechanism and an L-shaped push plate; the chain transmission mechanism drives the L-shaped push plate; the L-shaped push plate is provided with a plurality of integrally formed push plates. The number of push fingers is equal to the number of V-shaped grooves, and each push finger is aligned with each V-shaped groove one by one; the reclaiming device includes a turning drive mechanism and an end effector; the turning drive mechanism drives the end effector The parts are intermittently flipped between the receiving station and the output station; the end effector is placed at the output end of the V-groove plate, and the end away from the V-groove plate is hinged with the frame; the end effector is opened There are feeding troughs equal to the number of V-shaped grooves, each feeding groove is provided with a feeding port on the side wall of the V-shaped groove plate, and the top of each feeding groove is hinged with a cover plate through the rotating shaft; There is a torsion spring; the output station of the end effector is provided with an L-shaped baffle equal to the number of V-shaped grooves, and the L-shaped baffle is fixed on the frame; along the V-shaped grooves of the V-shaped groove plate In the cloth direction, each feeding groove of the end effector is aligned with each V-shaped groove one by one, and with each L-shaped baffle plate one by one; the feeding device is located directly below the output station of the end effector; the feeding device includes The driving roller, the driven roller, the conveyor belt and the partition plate; the said driving roller and the driven roller form a rotating pair with the frame; the driving roller is driven by the second driving device; the driven roller and the driving roller pass through the conveyor belt connection; the outer side of the conveyor belt is provided with several partition plates that are evenly distributed along the surrounding direction of the conveyor belt; the conveyor belt is arranged along the V-groove arrangement direction of the V-groove plate; the first driving device simultaneously feeds the chain transmission mechanism And the turning drive mechanism provides power, and the second driving device provides power to the driving drum. 2 . The automatic feeding device for cutting and willow branches according to claim 1 , wherein the angle between the two side walls of the V-shaped groove is 60°. 3 . 3 . The automatic feeding device for cutting and willow branches according to claim 1 , wherein the two end surfaces of the cover plate and the end effector are hinged through two rotating shafts aligned with the central axis, and the rotating shaft and the cover plate are hinged. 4 . Both sides of the vertical arrangement are provided with spacing. 4 . The automatic feeding device for cutting and willow branches according to claim 1 , wherein one end of the torsion spring is fixed to the rotating shaft, and the other end is fixed to the cover plate. 5 . 5 . The automatic feeding device for cutting and willow branches according to claim 1 , wherein the chain transmission mechanism comprises a single-row sprocket shaft, an active single-row sprocket, a driven single-row sprocket, and a discharging device. 6 . The chain is installed; the two active single-row sprockets are driven synchronously by the first driving device; the single-row sprocket shaft and the frame form a rotating pair, and the distance between the two driven single-row sprockets is fixed on the single-row sprocket shaft, and each driven The single-row sprocket and an active single-row sprocket are connected by a discharge device chain; the length of the discharge device chain is less than the length of the long groove; the two ends of the L-shaped push plate are connected with the two discharge device chains. Fixed separately; there are two L-shaped push plates, one L-shaped push plate is located on the upper belt section of the discharge device chain, and the other L-shaped push plate is located at the lower belt section of the discharge device chain. 6 . The automatic feeding device for cutting and switch branches according to claim 1 , wherein the overturning drive mechanism includes an incomplete gear mechanism and a combined link mechanism; the incomplete gear mechanism includes an active gear mechanism. 7 . Incomplete gear, driven gear, active buffer, driven buffer, convex locking arc and concave locking arc; both the gear installation shaft and the crank shaft form a rotating pair with the frame; the gear installation shaft is driven by the first drive device ; the active incomplete gear is fixed on the gear installation shaft; the active buffer and the convex locking arc are all sleeved on the gear installation shaft, and are fixed with the active incomplete gear; the driven gear is fixed on the crank On the shaft; both the driven buffer and the concave locking arc are sleeved on the crankshaft and are fixed with the driven gear; when the concave locking arc and the convex locking arc are separated, the driven buffer and the active buffer are frictionally driven , and the driven gear meshes with the toothed part of the driving incomplete gear; when the driven gear is separated from the toothed part of the driving incomplete gear, the concave locking arc and the convex locking arc frictionally drive; the combined connecting rod The mechanism includes a crank, a connecting rod, a rocker, a slider and a slide rail; one end of the crank is fixed with the crank shaft, and the other end is hinged with one end of the connecting rod; the other end of the connecting rod is hinged with one end of the rocker; the other end of the rocker is hinged with the frame hinged; the slider is fixed on the hinge shaft of the connecting rod and the rocker, and forms a sliding pair with the guide rail fixed on the frame; the combined link mechanism is symmetrically arranged on both sides of the end effector of two. 7. The automatic feeding device for cutting and willow branches according to claim 1, wherein the first drive device comprises a first step motor, a driving sprocket, a driven sprocket, a driving device chain, The first drive synchronous pulley and the first driven synchronous pulley; the base of the first step motor is fixed on the frame; the drive sprocket shaft and the driven sprocket shaft both form a rotating pair with the frame, and the drive sprocket shaft and the first The output shaft of the step-by-step motor is connected by a coupling; the drive sprocket and the drive synchronous pulley are both fixed on the drive sprocket shaft; the driven sprocket is fixed on the driven sprocket shaft, and is connected with the drive sprocket shaft. The driving sprocket is connected by the driving device chain; the driven synchronous pulley 1 is connected with the driving synchronous pulley 1 through the synchronous belt; the chain transmission mechanism is driven by the driving sprocket shaft, and the overturning driving mechanism is driven by the driven synchronous pulley 1. 8. The automatic feeding device for cutting and willow branches according to claim 1, wherein the second driving device comprises a second stepping motor, two active synchronous pulleys and two driven synchronous pulleys; The base of the second stepping motor is fixed on the frame; the second active synchronous pulley is fixed on the output shaft of the second stepping motor; the second driven synchronous pulley and the second active synchronous pulley Connected by a synchronous belt; the driving roller of the feeding device is fixed with the second driven synchronous pulley. 9. according to the feeding method of a kind of cutting switch automatic feeding device according to any one of claim 1 to 8, it is characterized in that: the method is specifically as follows: Step 1. Put a batch of switch branches horizontally into the silo, and the switch branches fall into each V-shaped groove of the V-shaped groove plate under the action of gravity; Step 2. The first driving device drives the chain transmission mechanism and the overturning driving mechanism; the chain transmission mechanism drives the L-shaped push plate. When each push finger of the L-shaped push plate is embedded in the corresponding V-shaped groove, each push finger is connected to the corresponding V-shaped groove. The willow branches inside contact, push the willow branches in each V-shaped groove to be conveyed to the corresponding feeding port of the end effector; The willow branches placed in the silo fall into each V-shaped groove of the grooved plate. At the same time, the overturning drive mechanism drives the end effector to turn over from the receiving station to the output station; when the end effector is in the output station, the end effector is turned over. Under the action of the corresponding L-shaped baffle, each cover plate on the actuator opens the corresponding receiving chute. Since the feeding device directly under the output station of the actuator is driven by the second driving device, the conveyor belt of the feeding device keeps running, so each The willow branches in the feeding trough respectively fall into different gaps formed by the partition plates on the conveyor belt of the feeding device. Then, the turning drive mechanism drives the end effector to turn from the output station to the receiving station. At this time, Each cover plate is not affected by the L-shaped baffle, and re-covers the corresponding receiving trough under the action of the restoring force of the torsion spring; Step 3: Repeat step 2 until all the willow branches in the silo are transported. 10. the feeding method of a kind of cutting switch automatic feeding device according to claim 9, is characterized in that: the process that described overturning drive mechanism drives end effector is as follows: During the meshing process of the driving incomplete gear and the driven gear, the driven gear is driven to rotate, and the rotation of the driven gear drives the rocker to swing through the crank and connecting rod, so that the rocker drives the end effector to complete the flip to the output station and back to the output station. A cyclic movement process of the receiving station; while the end effector is turned over, the slider on the rocker slides along the slide rail.

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