CN108476725A - Strawberry maturity recognition and picking sorter - Google Patents
Strawberry maturity recognition and picking sorter Download PDFInfo
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- CN108476725A CN108476725A CN201810293952.5A CN201810293952A CN108476725A CN 108476725 A CN108476725 A CN 108476725A CN 201810293952 A CN201810293952 A CN 201810293952A CN 108476725 A CN108476725 A CN 108476725A
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- strawberry
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 121
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 121
- 244000307700 Fragaria vesca Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 121
- 238000012216 screening Methods 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims description 78
- 230000005070 ripening Effects 0.000 claims description 34
- 235000012055 fruits and vegetables Nutrition 0.000 claims description 14
- 230000007723 transport mechanism Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 abstract description 5
- 230000032258 transport Effects 0.000 abstract 1
- 238000010008 shearing Methods 0.000 description 19
- 230000033001 locomotion Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 9
- 235000013399 edible fruits Nutrition 0.000 description 9
- 241000196324 Embryophyta Species 0.000 description 6
- 238000011160 research Methods 0.000 description 5
- 238000013519 translation Methods 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 235000021028 berry Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005194 fractionation Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000035800 maturation Effects 0.000 description 2
- 235000016967 Fragaria collina Nutrition 0.000 description 1
- 241000908847 Fragaria viridis Species 0.000 description 1
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- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- JZGWEIPJUAIDHM-UHFFFAOYSA-N chembl2007771 Chemical compound C1=CC=C2C(N=NC3=C4C(=CC(=CC4=CC=C3O)S(O)(=O)=O)S(O)(=O)=O)=CC=C(S(O)(=O)=O)C2=C1 JZGWEIPJUAIDHM-UHFFFAOYSA-N 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
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- 230000036541 health Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/20—Delivering mechanisms for harvesters or mowers with conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/04—Stationary flat screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B2201/00—Details applicable to machines for screening using sieves or gratings
- B07B2201/04—Multiple deck screening devices comprising one or more superimposed screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention belongs to the technical field of picking devices, and discloses a strawberry maturity identifying and picking sorter which comprises a screening mechanism, a cutting mechanism, a conveying mechanism and a grading mechanism. This technical scheme collects and screens ripe strawberry, picks the strawberry, transports the strawberry and accomodates multi-functionally in grades the strawberry, and is with low costs, protects the strawberry plant, and gentle picking picks, picks efficiently, and the precision is high, excellent in use effect.
Description
Technical field
Patent of the present invention belongs to picker technical field more particularly to the identification of Strawberry ripening degree and picking separating machine.
Background technology
Strawberry has plantation in the most areas in the world, and only fruit colour is bright-coloured, and juice is abundant, delicious and tasty, pole
Eutrophy is worth and health value.In world fruit market in occupation of not replaceable seat.National strawberry takes up an area more than 1,500,000
There are the plantation of strawberry in mu, Hebei province, Shandong Province and many southern provinces and cities.
But strawberry is mostly dichasium, is successively bloomed in order.In order to ensure exterior quality and the nutrition of strawberry
Value, it is necessary to select and pick strawberry fruit at harvest season at daily moment morning and evening, and manually often pluck strawberry at one, need curved
Waist is primary, and labor intensity is big, and the height of cost accounts for about a quarter of strawberry cultivating production cost, serious to restrict strawberry kind
The development of plant.
As rural laborer is to the womenization and aging of second and third industry transfer and rural laborer, for giving birth to
The labour for producing strawberry day is becoming tight, and thus developing a kind of can replace manually completing the picking work that this is time-consuming, laborious
Strawberry picking mechanism is imperative.But it due to the unique profile nature of strawberry and the condition of cultivation, is realized certainly to strawberry harvest
Dynamicization adds difficulty, while the institutional framework of strawberry fruit also proposed higher requirement for picking mechanism.
This strawberry picking machine is usually in outside work, and operating environment is poor, must be its planing machine vision system,
Picking object, the automatic location information for detecting ripe strawberry can be identified and be positioned, then controls machine according to these information
Executing agency action, realize strawberry picking automation.
Domestic picking robot research is started late, and the starting stage is in.The high skill of Eleventh Five-Year Plan country put into effect for 2006
Art research and devleopment plan (863 Program), it is proposed that high technology item《Picking fruit robot key technology research》After, closely
Domestic many well-known colleges and universities and scientific research institutions actively put into the research of various picking robots over year, by tracking external advanced skill
Art achieves initial achievements in picking robot field and develops some model machines.
However, domestic not yet occur realizing that strawberry largely picks the technological achievement that can be adapted for plant produced line automatically,
In existing patent：
1）Southwest Petrol University's patent of invention《A kind of novel strawberry picker》, the patent No. 201710314818.4 provides
A kind of idea for realizing strawberry picking：Turn to hook continuous rotation, strawberry carpopodium is hooked and is cut off at blade, strawberry drops to conveyer belt
On, strawberry when conveyer belt moves to peak with calling in collection frame.In the operation of such device, turns hook and be unable to control direction
With dynamics, therefore it will appear and turn to hook bad soil or hook bad strawberry main body section；And strawberry carpopodium is cut off, and is not effectively protected
Good plant fruit body.
2）Patent of invention《Ripe strawberry automatic identification picker system in natural environment》, the patent No.：201310662877.2
Its feature includes mainly ARM controller, and drive module, CCD, PLC, mechanical arm electric rotating machine etc., this installation cost is too high, can not
It spreads in flow line production, its people can not be suitable for.
Invention content
In order to solve the above technical problems, the present invention proposes the identification of Strawberry ripening degree and picking separating machine.It collects the knowledge of strawberry
Other maturity, picking, size fractionation, achievement transmit four big functions in one.Specific technical solution is as follows：
Strawberry ripening degree identifies and picking separating machine, including sorting mechanism, cutting mechanism, transmission classification and auxiliary body.Wherein,
The sorting mechanism includes arc fruits and vegetables screening washer, slider-crank mechanism and sensory-control system, and sensor is arranged in holder
On, the strawberry color that sensory-control system first passes through sensor identification obliquely downward judges whether it is ripe, then by feedback signal
Driving mechanism is inputed to, and then power is provided for the slider-crank mechanism by driving mechanism motor, to drive arc fruits and vegetables
Screening washer is popped up along the vertical direction of all-in-one machine traffic direction or retraction；The cutting mechanism includes mainly separator, saw
Dentation dislocation cutoff tool, motor and transport mechanism, the ripe strawberry after screening is cut off, the zigzag dislocation cut-out
Cutter spacing is connected as executing agency with the transport mechanism in the slot of the separator, and the transport mechanism includes connection
Gear on motor shaft and the link mechanism being connected with the gear provide power input by motor, drive the sawtooth
Shape dislocation cutoff tool executes cutting action, and the zigzag dislocation cutoff tool is made of the blade of two panels mounted on top, and blade 1 exists
On, blade 2 realizes high-speed cutting campaign under, by the mutual cooperation between connecting rod；The transmission classification and auxiliary body are main
Including inclined ramp, conveyer belt, auxiliary vehicle and filter plate, the strawberry of cutting is transmitted to eminence, and grass is carried out by filter plate
The classification of certain kind of berries size, the inclined ramp are connected by sprocket wheel with auxiliary wheel, and power, the transmission are provided into for it by Chinese herbaceous peony
Band is connected with the inclined ramp by V belt translation, and the filter plate is located at inclined ramp outermost, for executing the size to fruit
It is classified work.
Sorting mechanism is located at machine most front side, judges whether maturation by identification fruit color, then feedback signal is inputted
To driving mechanism, and then drive the pop-up of arc fruits and vegetables screening washer or retraction；Cutting mechanism is located on rear side of sorting mechanism, for that will sieve
Ripe strawberry after choosing is cut off；Transmission classification and auxiliary body are located at machine right end, and the strawberry of cutting is transmitted to eminence,
The conveyer belt of eminence is horizontal, and small front apron is vertically installed on conveyer belt, and strawberry is separated by small front apron, with to conveyer belt
Movement, when small front apron level, the strawberry on conveyer belt moves forward under effect of inertia, that is, moves on filter plate,
Filter plate is double-layer structure, and first layer is equipped with hole, and the strawberry more than the diameter in hole will be left in first layer, and less than the diameter in hole
Strawberry will fall into the second layer, outside first layer plus can pack son, install bucket or basket additional under the second layer, to pass through filtering
Plate carries out the classification of strawberry size, and the strawberry after classification passes through in the human hand work pickup to corresponding collection box on bicycle.
Sorting mechanism includes arc fruits and vegetables screening washer 4, screening connecting rod I 10, screening connecting rod II 11, screening crank 12, transmission
Axis III 29, servo motor 30, sensor 52.Wherein, 52 side of being fixed on the machine of sensor, servo motor 30 are mounted on screening machine
Structure bottom, transmission shaft III 29 are connected to obtain power with 30 output shaft of servo motor, and screening crank 12 is in transmission shaft III 29
Drive under circle, screening connecting rod II 11 by screening crank 12 with action rotary motion, screening connecting rod I 10 by screening connect
The drive of bar II 11 is for linear motion, and arc fruits and vegetables screening washer 4 is connected with screening connecting rod I 10.
Cutting mechanism includes zigzag dislocation cutoff tool I 2, and zigzag misplaces cutoff tool II 3, and arc fruits and vegetables screening washer 4 cuts
Connecting rod I 5 is cut, triangle shears connecting rod 6, shears connecting rod II 7, shears crank 8, and small-sized idler wheel 9 shears connecting rod III 13, and shearing connects
Bar IV 14, motor I 15, driving wheel I 16, gear shaft I17, gear shaft II 18, gear shaft III 19, transmission gear I 20, incomplete tooth
Wheel 21, gear crank are connected axis 22, connecting rod I 23, sliding block 24, connecting rod II 25, connecting rod III 26, transmission shaft I 27, transmission shaft II 28.
Wherein, partial gear 21 is located at cutting mechanism lowest part, and transmission gear I 20 is welded with partial gear 21, electricity
Driving wheel I 16 is housed on the motor shaft of machine I 15, transmission gear I 20 is engaged with driving wheel I 16, and power is provided by motor I 15,
Driving wheel I 16 is driven to rotate, to drive partial gear 21 to rotate, the connected axis of partial gear 21 and gear crank 22 engages
When, connecting rod I 23 is for linear motion in the case where gear crank is connected the promotion of axis 22, pushes connecting rod II 25 and connecting rod III 26 to move, even
Bar II 25 and the movement of connecting rod III 26 be divided into not Dai Dong transmission shaft I 27 and transmission shaft II 28, and then transmission shaft I 27 and transmission shaft II 28
Shearing connecting rod III 13 and shearing connecting rod IV 14 are driven respectively, and then the zigzag dislocation translation of cutoff tool II 3 is driven to complete cut-out work
Make.
When partial gear 21 is engaged with the gear on gear shaft I17, band movable gear shaft II 18 rotates, further, band
Movable gear shaft III 19 rotates, and further, shearing crank 8 is driven to rotate, to sequentially drive shearing connecting rod II 7, triangle to cut
Connecting rod 6, the shearing movement of connecting rod I 5 are cut, to drive zigzag dislocation cutoff tool I 2 to complete cutoff action.
Gear shaft I17 is connected with gear crank, and the number of teeth of axis 22 is identical, and the gear ratio with partial gear 21 is 1：2, it protects
The cutoff tool I 2 of zigzag dislocation simultaneously completes cutoff action when card zigzag dislocation cutoff tool II 3 translates out.
Transport mechanism includes inclined ramp 31, horizontal conveying belt 32, triangle conveyer belt 33, belt pulley I 34, belt pulley II
35, belt pulley III 36, belt pulley IV 37, belt pulley V 38, pedal 39, bicycle transmission chain 40, sprocket wheel transmission I（21/42）41,
Transmission gear II 42, transmission gear III 43, sprocket wheel transmission II（21/21）44, transmission shaft IV 45, pulley shaft III 46, pulley shaft II
47, pulley shaft I 48, pulley shaft IV 49, pulley shaft V 50.
Wherein, bicycle transmission chain 40 is located at transport mechanism right end, sprocket wheel transmission I（21/42）41 with pedal 39 be pass
It send mechanism to provide power, is arranged in sequence with transmission shaft IV 45, pulley shaft III 46, pulley shaft II 47, pulley shaft I 48, pulley shaft IV
49, pulley shaft V 50, transmission gear II 42 is fixed on transmission shaft IV 45, and transmission gear III 43 is fixed on pulley shaft III 46,
Sprocket wheel transmission II（21/21）44 connection pulley shafts III 46 and pulley shaft II 47, belt pulley I 34, belt pulley II 35, belt pulley III
36, belt pulley IV 37, belt pulley V 38 is separately fixed at pulley shaft I 48, pulley shaft II 47, pulley shaft III 46, pulley shaft IV 49,
On pulley shaft V 50, inclined ramp 31, horizontal conveying belt 32, triangle conveyer belt 33 is respectively positioned on transport mechanism lower portion.
Semi-streamlined form separator 1 is located at machine outermost, and filter plate 51 is located on the right side of transport mechanism, when picking strawberry,
Semi-streamlined form separator 1 provokes strawberry stem, it is made to be detached with strawberry ridge, and filter plate 51 is for screening different size of strawberry.
Coordinated using TCS3200 color sensors and Arduino control centres, realize the screening of Strawberry ripening,
TCS3200 color sensor short distance colors judge that precisely the processing of Arduino control centres is fast, as a result accurately；Separator profit
With front end semi-streamlined form, back side is realized using trundle and is rolled, and enables separator always close to ridge wall, can be by strawberry and ridge
Wall realizes separation, while coordinating semi-streamlined form separator, can separate immature strawberry, to further realize strawberry
Picking；After ripe strawberry being filtered out by sorting mechanism, pass through transport mechanism passing power and overlapping alternating expression mechanism
Movement so that mounted on top two zigzag cutoff tools together is stretched out, to make the ripe stem for wiping strawberry fall in serrated slot
It is interior.The zigzag cutoff tool side-to-side movement of lower section is driven by the movement of link mechanism, realizes the friendship of two zigzag cutoff tools
Stem that is wrong, successfully cutting off strawberry, completes cut-out picking.
The technical program integrates identification maturity, picking, size fractionation, achievement four big functions of transmission, at low cost, protects
Strawberry is protected, mild to pick, picking efficiency is high, and precision is high, and using effect is excellent.
Description of the drawings
Fig. 1：The structural representation view of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 2：The front view of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 3：The vertical view of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 4：The picker system front view of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 5：The picker system upward view of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 6：The screening plant schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 7：The cutter disconnecting device schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 8：The bottom knife disconnecting device schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Fig. 9：The picking transmission system schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 10：The delivery system schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 11：The delivery system of Strawberry ripening degree identification of the present invention and picking separating machine is driven schematic diagram；
Figure 12：The filter plate schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 13：The semi-streamlined form separator schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 14：The arc strawberry screening washer schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 15：The zigzag bottom knife schematic diagram of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 16：The zigzag cutter vertical view of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 17：The zigzag cutter left view of Strawberry ripening degree identification of the present invention and picking separating machine；
Figure 18：The zigzag cutter sectional view of Strawberry ripening degree identification of the present invention and picking separating machine.
Wherein；1. semi-streamlined form separator；The cutoff tool I 2. zigzag misplaces, 3. zigzags dislocation cutoff tool II；4. arc
Fruits and vegetables screening washer；5. shearing connecting rod I；6. triangle shears connecting rod；7. shearing connecting rod II；8. shearing crank；9. small-sized idler wheel；
10. screening connecting rod I；11. screening connecting rod II；12. screening crank；13. shearing connecting rod III；14. shearing connecting rod IV；15. motor I；
16. driving wheel I；17. gear shaft I；18. gear shaft II；19. gear shaft III；20. transmission gear I；21. partial gear；22.
Gear crank is connected axis；23. connecting rod I；24. sliding block；25. connecting rod II；26. connecting rod III；27. transmission shaft I；28. transmission shaft II；
29. transmission shaft III；30. servo motor；31. inclined ramp, 32. horizontal conveying belts；33. triangle conveyer belt, 34. belt pulleys I,
35. belt pulley II；36. belt pulley III；37. belt pulley IV；38. belt pulley V；39. pedal；40. bicycle transmission chain；41. chain
Wheel transmission I（21/42）；42. transmission gear II；43. transmission gear III；44. sprocket wheel transmission II（21/21）；45. transmission shaft IV；
46. pulley shaft III；47. pulley shaft II；48. pulley shaft I；49. pulley shaft IV；50. pulley shaft V；51. filter plate；52. sensing
Device；53. holder；54. traveling wheel；55. small front apron；56. limiting plate；57. vertical groove；58. horizontal groove.
Specific implementation mode：
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
By Fig. 1, Fig. 2, Fig. 3 it is found that Strawberry ripening degree identifies and picking separating machine, including sorting mechanism, cutting mechanism, biography
Send classification and auxiliary body.Wherein, sorting mechanism is located at machine most front side, judges whether maturation by identification fruit color, then
Feedback signal is inputed into driving mechanism, and then drives the pop-up of arc fruits and vegetables screening washer or retraction；Cutting mechanism is located at screening machine
On rear side of structure, for the ripe strawberry after screening to be cut off；Transmission classification and auxiliary body are located at machine right end, by cutting
Strawberry is transmitted to eminence, and the classification of strawberry size is carried out by filter plate.
By Fig. 6, Fig. 8, Figure 14 it is found that sorting mechanism includes arc fruits and vegetables screening washer 4, screening connecting rod I 10, screening connecting rod II
11, crank 12, transmission shaft III 29, servo motor 30, sensor 52 are screened.Wherein, 52 side of being fixed on the machine of sensor, servo
Motor 30 is mounted on sorting mechanism bottom, and transmission shaft III 29 is connected to obtain power with 30 output shaft of servo motor, screens
Crank 12 circles under the drive of transmission shaft III 29, screening connecting rod II 11 by screening crank 12 with action rotary motion,
It is for linear motion by the drive of screening connecting rod II 11 to screen connecting rod I 10, arc fruits and vegetables screening washer 4 is connected with screening connecting rod I 10.
By Fig. 4, Fig. 5, Fig. 7, Fig. 8, Fig. 9, Figure 15, Figure 16, Figure 17, Figure 18 it is found that cutting mechanism includes zigzag dislocation
Cutoff tool I 2, zigzag dislocation cutoff tool II 3, arc fruits and vegetables screening washer 4 shear connecting rod I 5, and triangle shears connecting rod 6, shearing
Connecting rod II 7 shears crank 8, and small-sized idler wheel 9 shears connecting rod III 13, shears connecting rod IV 14, motor I 15, driving wheel I 16, gear
Axis I17, gear shaft II 18, gear shaft III 19, transmission gear I 20, partial gear 21, gear crank are connected axis 22, connecting rod I
23, sliding block 24, connecting rod II 25, connecting rod III 26, transmission shaft I 27, transmission shaft II 28.
Wherein, partial gear 21 is located at cutting mechanism lowest part, and transmission gear I 20 is welded with partial gear 21, electricity
Driving wheel I 16 is housed on the motor shaft of machine I 15, transmission gear I 20 is engaged with driving wheel I 16, and power is provided by motor I 15,
Driving wheel I 16 is driven to rotate, to drive partial gear 21 to rotate, the connected axis of partial gear 21 and gear crank 22 engages
When, connecting rod I 23 is for linear motion in the case where gear crank is connected the promotion of axis 22, pushes connecting rod II 25 and connecting rod III 26 to move, even
Bar II 25 and the movement of connecting rod III 26 be divided into not Dai Dong transmission shaft I 27 and transmission shaft II 28, and then transmission shaft I 27 and transmission shaft II 28
Shearing connecting rod III 13 and shearing connecting rod IV 14 are driven respectively, and then the zigzag dislocation translation of cutoff tool II 3 is driven to complete cut-out work
Make.
When partial gear 21 is engaged with the gear on gear shaft I17, band movable gear shaft II 18 rotates, further, band
Movable gear shaft III 19 rotates, and further, shearing crank 8 is driven to rotate, to sequentially drive shearing connecting rod II 7, triangle to cut
Connecting rod 6, the shearing movement of connecting rod I 5 are cut, to drive zigzag dislocation cutoff tool I 2 to complete cutoff action.
Gear shaft I17 is connected with gear crank, and the number of teeth of axis 22 is identical, and the gear ratio with partial gear 21 is 1：2, it protects
The cutoff tool I 2 of zigzag dislocation simultaneously completes cutoff action when card zigzag dislocation cutoff tool II 3 translates out.
By Fig. 2, Fig. 3, Figure 10, Figure 11 it is found that transport mechanism includes inclined ramp 31, horizontal conveying belt 32, triangle transmission
Band 33, belt pulley I 34, belt pulley II 35, belt pulley III 36, belt pulley IV 37, belt pulley V 38, pedal 39, bicycle transmission
Chain 40, sprocket wheel transmission I（21/42）41, transmission gear II 42, transmission gear III 43, sprocket wheel transmission II（21/21）44, transmission shaft
IV 45, pulley shaft III 46, pulley shaft II 47, pulley shaft I 48, pulley shaft IV 49, pulley shaft V 50.
Wherein, bicycle transmission chain 40 is located at transport mechanism right end, sprocket wheel transmission I（21/42）41 with pedal 39 be pass
It send mechanism to provide power, is arranged in sequence with transmission shaft IV 45, pulley shaft III 46, pulley shaft II 47, pulley shaft I 48, pulley shaft IV
49, pulley shaft V 50, transmission gear II 42 is fixed on transmission shaft IV 45, and transmission gear III 43 is fixed on pulley shaft III 46,
Sprocket wheel transmission II（21/21）44 connection pulley shafts III 46 and pulley shaft II 47, belt pulley I 34, belt pulley II 35, belt pulley III
36, belt pulley IV 37, belt pulley V 38 is separately fixed at pulley shaft I 48, pulley shaft II 47, pulley shaft III 46, pulley shaft IV 49,
On pulley shaft V 50, inclined ramp 31, horizontal conveying belt 32, triangle conveyer belt 33 is respectively positioned on transport mechanism lower portion.
As shown in Figure 2, semi-streamlined form separator 1 is located at machine outermost, and filter plate 51 is located on the right side of transport mechanism, is adopting
When plucking strawberry, semi-streamlined form separator 1 provokes strawberry stem, it is made to be detached with strawberry ridge, and filter plate 51 is different big for screening
Small strawberry.Sensor is fixed on holder, and traveling wheel is equipped under holder.
In the entire strawberry picking process on ditch ridge shape strawberry cultivating ground, strawberry distinguishes ripe picking classifying integrated machine along grass automatically
Certain kind of berries ridge is driven into, and the semi-streamlined form separator 1 of all-in-one machine front end is inserted between strawberry stem and ground, semi-streamlined form separator front end
Streamlined, upper end is equipped with the limiting plate of half opening, and strawberry stem is provoked at the streamlined position in front end, makes strawberry stem along semi-streamlined form
The streamlined front end of separator 1 slowly rises to separator upper end, and semi-streamlined form separator 1 is on vertically and horizontally
It is equipped with horizontal groove 58, water in the horizontal direction is just arranged in zigzag dislocation cutoff tool I 2 and zigzag dislocation cutoff tool II 3
In flat grooves 58.The sensor 52 being fixed on holder judges the strawberry color of its obliquely downward, if recognizing ripe strawberry
Red, sensory-control system do not act, and ripe strawberry will enter 56 lower section of limiting plate of semi-streamlined form separator 1；When
When detecting that strawberry is green, sensory-control system sends out signal to servo motor 30, and servo motor 30 drives arc fruits and vegetables
Screening washer 4 stretches out upwards from the vertical direction of all-in-one machine traffic direction, and green strawberry is released semi-streamlined form separator 1, is made green
Color strawberry is located at the top of the limiting plate 56 of semi-streamlined form separator 1, to make strawberry divide with semi-streamlined form separator 1
From making plant come back on ridge.Semi-streamlined form separator 1 plays the role of the ripe strawberry of limit, and ripe strawberry is made to limit
In vertical groove 57 on the vertical direction of semi-streamlined form separator 1.
Motor 15 works, and drives connecting rod I23 movements, and then connecting rod II25 and connecting rod III26 is driven to move together, connecting rod
I23, connecting rod II25 and connecting rod III26 are hinged, which is equipped with sliding block 24, and the fixed plate on holder is equipped with limit
Slot hole, sliding block can move reciprocatingly in the limit slot hole, to drive transmission shaft I27 and transmission shaft II28 to be transported along all-in-one machine
The vertical direction of line direction is done reciprocal stretch out and is moved, and then the shearing connecting rod III13 being connect with transmission shaft I27 and shearing is driven to connect
Bar IV14 does reciprocal stretch out along the vertical direction of all-in-one machine traffic direction and moves, and reaches the vertical recessed of semi-streamlined form separator 1
In slot 57, at the same time, motor 15 with movable gear shaft I17, gear shaft II18 and gear shaft III19 movement, gear shaft III19 with
Zigzag dislocation cutoff tool II 3 connects, and then pulls zigzag dislocation cutoff tool II 3 and zigzag dislocation cutoff tool I2 generation phases
To movement, to cut ripe strawberry.
It is fallen on inclined ramp 31 by the strawberry for cutting from plant, by gravity, strawberry slowly slides to horizontal conveying belt 32,
Under the action of pedal 39 and bicycle transmission chain 40, strawberry is transported to the horizontal position of 33 eminence of triangle conveyer belt, conveyer belt
On be vertically installed with small front apron 55, strawberry is separated by small front apron 55, with the movement of conveyer belt 33, when small front apron 55 is horizontal,
Strawberry on conveyer belt 33 moves forward under effect of inertia, that is, moves on filter plate 51, and filter plate 51 is two layers of knot
Structure, first layer are equipped with hole, and the strawberry more than the diameter in hole will be left in first layer, and the strawberry less than the diameter in hole will fall into second
Layer outside first layer plus can pack son, install bucket or basket additional under the second layer, big to carry out strawberry by filter plate 51
Small classification, the strawberry after classification pass through in the human hand work pickup to corresponding collection box on bicycle.
Embodiment only illustrates technical scheme of the present invention, rather than carries out any restrictions to it；Although with reference to the foregoing embodiments
Invention is explained in detail, for those of ordinary skill in the art, still can be to previous embodiment institute
The technical solution of record is modified or equivalent replacement of some of the technical features；And these modifications or substitutions, and
The essence of corresponding technical solution is not set to be detached from the spirit and scope of claimed technical solution of the invention.
Claims (10)
1. Strawberry ripening degree identifies and picking separating machine, it is characterised in that：Including sorting mechanism, cutting mechanism, transport mechanism and
Classification mechanism.
2. Strawberry ripening degree identification according to claim 1 and picking separating machine, it is characterised in that：Sorting mechanism includes arc
Shape fruits and vegetables screening washer, toggle, servo motor, sensor and sensory-control system, sensory-control system with watch
Take motor connection.
3. Strawberry ripening degree identification according to claim 2 and picking separating machine, it is characterised in that：Toggle packet
Screening connecting rod, screening crank and transmission shaft III are included, arc fruits and vegetables screening washer is connect with screening connecting rod, and screening connecting rod is bent with screening
Axis connection, screening bent axle are connect with transmission shaft III, and transmission shaft III is connect with servo motor output shaft.
4. Strawberry ripening degree identification according to claim 1 and picking separating machine, it is characterised in that：Cutting mechanism includes half
Streamlined separator, motor, transmission mechanism and the zigzag dislocation cutoff tool being connect with transmission mechanism.
5. Strawberry ripening degree identification according to claim 4 and picking separating machine, it is characterised in that：Transmission mechanism include with
The partial gear of motor connection and the gear shaft being connect with partial gear, gear shaft are connect with zigzag dislocation cutoff tool.
6. Strawberry ripening degree identification according to claim 5 and picking separating machine, it is characterised in that：It further include gear crank
Be connected axis, the connecting rod with the connected axis connection of gear crank, and connecting rod is connect with zigzag dislocation cutoff tool.
7. identifying and picking separating machine according to any Strawberry ripening degree of claim 1-6, it is characterised in that：Transport mechanism
Chain, gear, inclined ramp and the conveyer belt being connect including pedal, with pedal.
8. Strawberry ripening degree identification according to claim 7 and picking separating machine, it is characterised in that：Inclined ramp and conveyer belt
On be equipped with small front apron.
9. Strawberry ripening degree identification according to claim 8 and picking separating machine, it is characterised in that：Further include holder and row
Wheel is walked, classification mechanism is filter plate, and filter plate is fixed on holder.
10. Strawberry ripening degree identification according to claim 9 and picking separating machine, it is characterised in that：Sensor fixation is set
It sets on holder, detects the strawberry color of obliquely downward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810293952.5A CN108476725B (en) | 2018-04-04 | 2018-04-04 | Strawberry maturity recognition and picking sorting machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810293952.5A CN108476725B (en) | 2018-04-04 | 2018-04-04 | Strawberry maturity recognition and picking sorting machine |
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| CN108476725B CN108476725B (en) | 2023-09-08 |
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| CN109451994A (en) * | 2018-11-19 | 2019-03-12 | 江苏科技大学 | A kind of strawberry carpopodium separator and its workflow based on image recognition |
| CN115250742A (en) * | 2022-08-31 | 2022-11-01 | 东北林业大学 | Blueberry picking equipment |
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| CN115250742B (en) * | 2022-08-31 | 2023-09-08 | 东北林业大学 | Blueberry picking equipment |
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