CN109429695A - A kind of tomato automation production recovery arrangement of limit shearing rhizome - Google Patents

A kind of tomato automation production recovery arrangement of limit shearing rhizome Download PDF

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Publication number
CN109429695A
CN109429695A CN201811428185.0A CN201811428185A CN109429695A CN 109429695 A CN109429695 A CN 109429695A CN 201811428185 A CN201811428185 A CN 201811428185A CN 109429695 A CN109429695 A CN 109429695A
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China
Prior art keywords
shearing
tomato
rhizome
pad
stipes
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Granted
Application number
CN201811428185.0A
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Chinese (zh)
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CN109429695B (en
Inventor
陈泽彬
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Hunan Guolongling Ecological Agriculture Technology Co ltd
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Individual
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D45/00Harvesting of standing crops
    • A01D45/006Harvesting of standing crops of tomatoes

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  • 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 discloses a kind of tomatoes of limit shearing rhizome to automate production recovery arrangement, and structure includes travelling platform, control machine display, camera support, camera, mechanical arm, fruit basket, shearing rhizome device, places pocket.The present invention fixes grip block rotation to tomato stipes jointly with the U-shaped structure for wiping net anti-rust structure by armature, point of a knife is pushed to move up with cutter head using piston and fixed link, across grip block, cut tomato stipes, expand the interval of stipes cut surface by broadening part simultaneously, stipes cut surface is prevented to be bonded blade, the movement of increasing friction force obstruction point of a knife, then the juice for being bonding on shearing tool surface is cleared up with pad is struck off using friction block, simultaneously by letting out power part and being pressurized the interaction force and its deformation nature of pad, guarantee friction block and strikes off pad with there are certain extruding forces between shearing tool surface, guarantee the fitting dynamics of its contact surface, it is set to clear up juice completely, prevent the subsequent use of juice remaining influence.

Description

A kind of tomato automation production recovery arrangement of limit shearing rhizome
Technical field
The present invention relates to agriculturals to harvest machinery field, more precisely, being a kind of tomato automation of limit shearing rhizome Production recovery arrangement.
Background technique
Continuous reinforcement with from mechanization of agriculture to intelligence degree, so that agricultural workforce gradually liberates, wherein due to Fruit picking operation labor intensity is big, and time-consuming and laborious, picking efficiency is low, is mostly the ripe fruit of carry out using picking robot intelligence It selects, then voluntarily picking storage, existing traditional technology consideration is not comprehensive, it has the following drawbacks:
Picking robot is first to grab fruit for the picking majority of tomato at present, then by the rotation of manipulator by fruit The real taking-up that fractures from stipes, but since tomato belongs to soft fruit, to guarantee its integrality, dynamics ten used in manipulator It is point limited, often stipes is fractureed can not completely, violence is caused to pull, damage tomato, and since tomato is mostly cluster growth, Violence, which pulls, to be easy to damage other green fruits, and influence is grown thereafter.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of automations of the tomato of limit shearing rhizome to adopt Receiving unit is first to grab fruit for the picking majority of tomato to solve the current picking robot of the prior art, then passes through The rotation of manipulator fractures fruit taking-up from stipes, but since tomato belongs to soft fruit, mechanical to guarantee its integrality Dynamics used in hand is extremely limited, often stipes is fractureed can not completely, violence is caused to pull, damage tomato, and due to Tomato is mostly cluster growth, and violence, which pulls, to be easy to damage other green fruits, influences the defect grown thereafter.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of tomato automation production recovery arrangement of limit shearing rhizome, structure include travelling platform, control machine display, phase Machine support, mechanical arm, fruit basket, shearing rhizome device, places pocket at camera, and the upper surface of the travelling platform is equipped with control Machine display, the camera support insertion are installed on the upper surface of travelling platform, and the top of the camera support is equipped with camera shooting Head, the mechanical arm are set to the upper surface of travelling platform, and the shearing rhizome device is installed on the head end of mechanical arm, the shearing The lower section of rhizome device, which is equipped with, places pocket, and the upper surface of the travelling platform is equipped with fruit basket and the phase by way of bonding Connection, the shearing rhizome device include outer casing, electromagnet, magnetic position-limit mechanism, air threshold switch, lifting body, shearing Cutter wipes net anti-rust structure, and the inner wall of the outer casing is connected by way of bonding with electromagnet, the magnetism position restrainer Structure is set to the left side of electromagnet, and the air threshold switch is connected with lifting body, and the shearing tool is installed on lifting body Top, it is described to wipe the insertion of net anti-rust structure and be installed on the inside of outer casing and be set to the top of shearing tool.
As the present invention, further scheme, the magnetism position-limit mechanism are equipped with armature, turntable, main spring, grip block, The armature is installed on turntable outer surface and is fixedly connected in a manner of bonding, the side that the turntable and grip block pass through welding Formula is connected, and the back side of the turntable is equipped with main spring.
As the present invention, further scheme, the lifting body are equipped with cylinder set, piston, fixed link, buffer gasket, limit The inner wall of block, the cylinder set is nested with piston and is connected by way of sliding, and the piston is connected with fixed link, The buffer gasket is installed on the top of cylinder set and is connected by way of nested with fixed link, and the limited block is set to cylinder The inner wall of set and it is connected by welding.
As the present invention, further scheme, the shearing tool are equipped with point of a knife, cutter head, blade, broadening part, the point of a knife Bottom end cutter head is installed and is connected by welding, the cutter head is connected with blade, the outside of the blade It is fixedly connected equipped with broadening part and by way of fitting.
As the present invention further scheme, it is described wipe net anti-rust structure equipped with friction block, strike off pad, mounting plate, let out power Part, pressurization pad, isolation frame, the friction block are connected with pad is struck off, and the friction block insertion is installed on the upper surface of mounting plate, The bottom surface of the mounting plate is equipped with and lets out power part and be connected by welding, and the power of the letting out part pads to be bonded with pressurization Mode is connected, and the outside of the pressurization pad is connected by way of nested with isolation frame, and the pressurization pad pads phase with pressurization Fitting.
It is described to wipe net anti-rust structure and be in U-shape as the present invention further scheme, it is connected in the form of buckle with outer casing It connects.
As the present invention, further scheme, the pressurization pad are made of elastic material, have good deformation least Energy.
As the present invention, further scheme, the power of letting out part surface are smooth semi-circular shape, extruding force can be made to disperse, Make pressurization pad more uniform force.
As the present invention further scheme, the friction block is connect with striking off to pad to be spaced apart from each other two-by-two, is formed coherent Strike off wall.
As the present invention further scheme, it is smooth that the broadening part is made of stainless steel surface, thickness and cutter head one It causes.
As further scheme of the invention, the side view of the grip block is concave, passes through convenient for shearing tool, completely Cut tomato stipes.
Invention beneficial effect
The relatively prior art, the present invention is by passing through control machine display, so that mature tomato is exactly into and puts It sets inside pocket, and the stipes of tomato then falls into and wiping on the inside of net anti-rust structure, then control electromagnet obtains electric, and generate its magnetic, Attract armature, so that armature drives turntable to rotate counterclockwise, twists main spring, driven by rotary disc grip block turns left, to tomato stem Section fixes, and prevents tomato from toppling over since stipes stress generates, while air threshold switch is opened, so that piston and solid Fixed pole moves up under the promotion of air pressure along cylinder set, so that point of a knife and cutter head are moved up across wiping net anti-rust structure to stem Section is cut, while blade and broadening part pass through stipes, prevent the stipes of cut surface to be bonded blade, hinder point of a knife and cutter head Action, after the completion of cutting, shearing tool is withdrawn, and friction block is fitted with shearing tool surface and contacted with striking off to pad, to bonding The juice on its surface is struck off, while using the interaction force and its deformation nature for letting out power part and pressurization pad, guaranteeing friction Block and pad is struck off with there are certain extruding forces between shearing tool surface, guarantee the fitting dynamics of its contact surface, make it completely Juice is cleared up, the subsequent use of juice remaining influence is prevented, then the tomato inside placement pocket is put into fruit basket.
It is compared to traditional tomato seed harvester, which is made grip block rotation and wiped only by armature The U-shaped structure of anti-rust structure jointly fixes tomato stipes, is pushed on point of a knife and cutter head using piston and fixed link It moves, passes through grip block, cut tomato stipes, while expanding the interval of stipes cut surface by broadening part, prevent stipes cut surface It is bonded blade, increasing friction force hinders the movement of point of a knife, then using friction block and strikes off pad to being bonding on shearing tool surface Juice cleared up, while interaction force and its deformation nature by letting out power part and pressurization pad guarantee friction block and to scrape Except pad is with there are certain extruding forces between shearing tool surface, guarantees the fitting dynamics of its contact surface, it is made to clear up juice completely Liquid prevents the subsequent use of juice remaining influence.
Detailed description of the invention
By reading referring to attached drawing detailed description of non-limiting embodiments, other feature of the invention, purpose It will be become more apparent upon with advantage.
In the accompanying drawings:
Fig. 1 is that a kind of tomato of limit shearing rhizome of the present invention automates production recovery arrangement structural schematic diagram.
Fig. 2 is a kind of shearing rhizome device plan structure plan view of the present invention.
Fig. 3 is that the component of the magnetic position-limit mechanism in a kind of shearing rhizome device of the present invention parses schematic diagram.
Fig. 4 is that the component of the lifting body in a kind of shearing rhizome device of the present invention parses schematic diagram.
Fig. 5 is that the component of the shearing tool in a kind of shearing rhizome device of the present invention parses schematic diagram.
Fig. 6 is that the component for wiping net anti-rust structure in a kind of shearing rhizome device of the present invention parses schematic diagram.
In figure: travelling platform -1, camera support -3, camera -4, mechanical arm -5, fruit basket -6, is cut control machine display -2 It cuts rhizome device -7, place pocket -8, outer casing -71, electromagnet -72, magnetic position-limit mechanism -73, air threshold switch -74, jacking Mechanism -75, shearing tool -76 wipe net anti-rust structure -77, armature -731, turntable -732, main spring -733, grip block - 734, cylinder set -751, piston -752, fixed link -753, buffer gasket -754, limited block -755, point of a knife -761, cutter head -762, knife Body -763, broadening part -764, friction block -771 strike off pad -772, mounting plate -773, let out power part -774, pressurization pad -775, isolation Frame -776.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to Specific embodiment, the present invention is further explained.
As shown in Fig. 1-5 figure, the present invention provides a kind of technical side of the tomato automation production recovery arrangement of limit shearing rhizome Case:
As shown in Figs. 1-2, a kind of limit shearing rhizome tomato automate production recovery arrangement, structure include travelling platform 1, Control machine display 2, camera 4, mechanical arm 5, fruit basket 6, shearing rhizome device 7, places pocket 8, the walking at camera support 3 The upper surface of platform 1 is equipped with control machine display 2, and the camera support 3 is embedded in the upper surface for being installed on travelling platform 1, described The top of camera support 3 is equipped with camera 4, and the mechanical arm 5 is set to the upper surface of travelling platform 1, the shearing rhizome dress 7 head ends for being installed on mechanical arm 5 are set, the lower section of the shearing rhizome device 7, which is equipped with, places pocket 8, the upper table of the travelling platform 1 Face is equipped with fruit basket 6 and is connected by way of bonding, and the shearing rhizome device 7 includes outer casing 71, electromagnet 72, magnetic position-limit mechanism 73, air threshold switch 74, lifting body 75, shearing tool 76, wipe net anti-rust structure 77, the outer cover The inner wall of shell 71 is connected by way of bonding with electromagnet 72, and the magnetism position-limit mechanism 73 is set to a left side for electromagnet 72 Side, the air threshold switch 74 are connected with lifting body 75, and the shearing tool 76 is installed on the top of lifting body 75, institute It states and wipes net anti-rust structure 77 and be embedded in the inside for being installed on outer casing 71 and be set to the top of shearing tool 76.
As shown in figure 3, the magnetism position-limit mechanism 73 is equipped with armature 731, turntable 732, main spring 733, grip block 734, the armature 731 is installed on 732 outer surface of turntable and is fixedly connected in a manner of bonding, the turntable 732 and clamping Plate 734 is connected by welding, and the back side of the turntable 732 is equipped with main spring 733, is driven and is pressed from both sides by armature 731 The movement of plate 734 is held, fixes grip block 734 to tomato stipes.
As shown in figure 4, the lifting body 75 is equipped with cylinder set 751, piston 752, fixed link 753, buffer gasket 754, limit The inner wall of position block 755, the cylinder set 751 is nested with piston 752 and is connected by way of sliding, the piston 752 It is connected with fixed link 753, the buffer gasket 754 is installed on the top of cylinder set 751 and passes through with fixed link 753 nested Mode is connected, and the limited block 755 is set to the inner wall of cylinder set 751 and is connected by welding, utilizes fixed link 753 promotion shearing tools 76 cover 751 directions along cylinder and move, and shear tomato stipes.
As shown in figure 5, the shearing tool 76 is equipped with point of a knife 761, cutter head 762, blade 763, broadening part 764, the knife The bottom end of point 761 is equipped with cutter head 762 and is connected by welding, and the cutter head 762 is connected with blade 763, The outside of the blade 763 is equipped with broadening and part 764 and is fixedly connected by way of fitting, by point of a knife 761 to stipes into Row cutting expands the cutting interval of stipes using cutter head 762 with broadening part 764, reduces stipes fitting and is formed to the movement of point of a knife 761 Resistance.
As shown in fig. 6, it is described wipe net anti-rust structure 77 equipped with friction block 771, strike off pad 772, mounting plate 773, let out power part 774, it is pressurized pad 775, isolation frame 776, the friction block 771 is connected with pad 772 is struck off, the insertion of friction block 771 installation In the upper surface of mounting plate 773, the bottom surface of the mounting plate 773, which is equipped with, lets out power part 774 and is connected by welding, The power of the letting out part 774 is connected in a manner of being bonded with pressurization pad 775, and outside and the isolation frame 776 of the pressurization pad 775 pass through Nested mode is connected, and the pressurization pad 775 fits with pressurization pad 775, by friction block 771 and strikes off pad 772 with knife Sharp 761 surfaces contact, strikes off the juice of bonding, while guaranteeing friction block 771 using letting out power part 774 and being pressurized pad 775 With strike off pad 772 with 761 close contact of point of a knife.
It wipes net anti-rust structure 77 as shown in Fig. 2, described and is in U-shape, be convenient for and grip block 734 limits fixed tomato stem jointly Section, is connected with outer casing 71 in the form of buckle, is readily disassembled cleaning.
It is as follows that it implements principle: by controlling machine display 2, placing in pocket 8 so that mature tomato is exactly into Portion, and the stipes of tomato then falls into and wipes net 77 inside of anti-rust structure, then control electromagnet 72 obtains electric, generates its magnetic, inhales Draw armature 731, so that armature 731 drives turntable 732 to rotate counterclockwise, twists main spring 733, turntable 732 drives grip block 734 turn left, and fix to tomato stipes, prevent tomato from being generated and being toppled over due to stipes stress, while air threshold switch 74 open, so that piston 752 moves up under the promotion of air pressure along cylinder set 751 with fixed link 753, so that point of a knife 761 and cutter head 762 move up and stipes cut across wiping net anti-rust structure 77, while blade 763 and broadening part 764 pass through stem Section prevents the stipes of cut surface to be bonded blade 763, hinders the action of point of a knife 761 and cutter head 762, after the completion of cutting, shear knife Tool 76 is withdrawn, and friction block 771 is contacted with striking off pad 772 and fit with 76 surface of shearing tool, to the juice on its surface of bonding into Row strikes off, while using letting out power part 774 and being pressurized the interaction force and its deformation nature of pad 775, guaranteeing friction block 771 and scraping Except pad 772 is with there are certain extruding forces between 76 surface of shearing tool, guarantee the fitting dynamics of its contact surface, keeps it completely clear Juice is managed, the subsequent use of juice remaining influence is prevented, then the tomato inside placement pocket 8 is put into fruit basket 6.
Problems solved by the invention is that the current picking robot of the prior art is first to grab for the picking majority of tomato Fruit is then fractureed fruit taking-ups by the rotation of manipulator from stipes, but since tomato belongs to soft fruit, for guarantee Its integrality, dynamics used in manipulator is extremely limited, often stipes is fractureed can not completely, violence is caused to pull, and damages Tomato, and since tomato is mostly cluster growth, violence, which pulls, to be easy to damage other green fruits, is influenced thereafter Growth, the present invention are combined with each other by above-mentioned component, and armature 731 makes the rotation of grip block 734 and wipes the U of net anti-rust structure 77 Type structure jointly fixes tomato stipes, is pushed on point of a knife 761 and cutter head 762 using piston 752 and fixed link 753 It moves, passes through grip block 734, cut tomato stipes, while expanding the interval of stipes cut surface by broadening part 764, prevent stipes Cut surface be bonded blade 763, increasing friction force hinder point of a knife 761 movement, then using friction block 771 and strike off pad 772 pairs The juice for being bonding on 76 surface of shearing tool is cleared up, at the same by let out power part 774 and be pressurized pad 775 interaction force with Its deformation nature guarantees friction block 771 and strikes off pad 772 with there are certain extruding force, guarantees between 76 surface of shearing tool The fitting dynamics of its contact surface, makes it clear up juice completely, prevents the subsequent use of juice remaining influence.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (6)

1. a kind of tomato of limit shearing rhizome automates production recovery arrangement, structure includes travelling platform (1), control machine display (2), camera support (3), camera (4), mechanical arm (5), fruit basket (6), shearing rhizome device (7), placement pocket (8), it is special Sign is: the upper surface of the travelling platform (1) is equipped with control machine display (2), and camera support (3) insertion is installed on row The upper surface of platform (1) is walked, the top of the camera support (3) is equipped with camera (4), and the mechanical arm (5) is set to walking The upper surface of platform (1), shearing rhizome device (7) are installed on the head end of mechanical arm (5), the shearing rhizome device (7) Lower section be equipped with place pocket (8), the upper surface of the travelling platform (1) is equipped with fruit basket (6) and by way of bonding It is connected;
The shearing rhizome device (7) includes outer casing (71), electromagnet (72), magnetic position-limit mechanism (73), air threshold switch (74), lifting body (75), shearing tool (76), wipe net anti-rust structure (77), the inner wall and electromagnet of the outer casing (71) (72) it is connected by way of bonding, the magnetism position-limit mechanism (73) is set to the left side of electromagnet (72), the air valve Switch (74) is connected with lifting body (75), and the shearing tool (76) is installed on the top of lifting body (75), described to wipe Net anti-rust structure (77) insertion is installed on the inside of outer casing (71) and is set to the top of shearing tool (76).
2. a kind of tomato of limit shearing rhizome according to claim 1 automates production recovery arrangement, it is characterised in that: described Magnetic position-limit mechanism (73) is equipped with armature (731), turntable (732), main spring (733), grip block (734), the armature (731) it is installed on turntable (732) outer surface and is fixedly connected in a manner of bonding, the turntable (732) and grip block (734) It is connected by welding, the back side of the turntable (732) is equipped with main spring (733).
3. a kind of tomato of limit shearing rhizome according to claim 1 automates production recovery arrangement, it is characterised in that: described Lifting body (75) is equipped with cylinder set (751), piston (752), fixed link (753), buffer gasket (754), limited block (755), institute The inner wall for stating cylinder set (751) is nested with piston (752) and is connected by way of sliding, the piston (752) and solid Fixed pole (753) is connected, and the buffer gasket (754) is installed on the top of cylinder set (751) and passes through with fixed link (753) embedding The mode of set is connected, and the limited block (755) is set to the inner wall of cylinder set (751) and is connected by welding.
4. a kind of tomato of limit shearing rhizome according to claim 1 automates production recovery arrangement, it is characterised in that: described Shearing tool (76) is equipped with point of a knife (761), cutter head (762), blade (763), broadening part (764), the bottom end of the point of a knife (761) Cutter head (762) is installed and is connected by welding, the cutter head (762) is connected with blade (763), the knife The outside of body (763) is equipped with broadening part (764) and is fixedly connected by way of fitting.
5. a kind of tomato of limit shearing rhizome according to claim 1 automates production recovery arrangement, it is characterised in that: described Net anti-rust structure (77) are wiped to be equipped with friction block (771), strike off pad (772), mounting plate (773), let out power part (774), pressurization pad (775), completely cut off frame (776), the friction block (771) is connected with pad (772) is struck off, friction block (771) the insertion installation In the upper surface of mounting plate (773), the bottom surface of the mounting plate (773), which is equipped with, lets out power part (774) and by welding Be connected, the power of the letting out part (774) with pressurization pad (775) be connected in a manner of being bonded, it is described pressurization pad (775) outside with Isolation frame (776) is connected by way of nested, and the pressurization pad (775) fits with pressurization pad (775).
6. a kind of tomato of limit shearing rhizome according to claim 1 automates production recovery arrangement, it is characterised in that: described It wipes net anti-rust structure (77) to be in U-shape, be connected in the form of buckle with outer casing (71).
CN201811428185.0A 2018-11-27 2018-11-27 Automatic tomato harvesting equipment capable of achieving limiting rhizome shearing Active CN109429695B (en)

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CN111771565A (en) * 2020-07-30 2020-10-16 和县绿源蔬菜种植有限责任公司 High-quality and high-efficiency cultivation equipment for solanaceous vegetables
CN112060222A (en) * 2020-08-06 2020-12-11 余家禧 Bamboo wicker basket residual bamboo chip removing equipment
CN114793612A (en) * 2022-04-11 2022-07-29 河南科技大学 Tomato picking manipulator with self-balancing adaptive grabbing force
CN116602121A (en) * 2023-07-20 2023-08-18 无锡学院 Picking machine with sorting function

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CN116602121B (en) * 2023-07-20 2023-09-19 无锡学院 Picking machine with sorting function

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