CN109429695B

CN109429695B - Automatic tomato harvesting equipment capable of achieving limiting rhizome shearing

Info

Publication number: CN109429695B
Application number: CN201811428185.0A
Authority: CN
Inventors: 陈泽彬
Original assignee: Hunan Guolongling Ecological Agriculture Technology Co ltd
Current assignee: Hunan guolongling Ecological Agriculture Technology Co.,Ltd.
Priority date: 2018-11-27
Filing date: 2018-11-27
Publication date: 2021-11-05
Anticipated expiration: 2038-11-27
Also published as: CN109429695A

Abstract

The invention discloses automatic tomato harvesting equipment capable of limiting rhizome shearing, which structurally comprises a walking platform, a control machine display, a camera support, a camera, a mechanical arm, a fruit basket, a rhizome shearing device and a placing bag. According to the invention, the clamping plate is rotated through the armature, the tomato stem is limited and fixed together with the U-shaped structure for cleaning the antirust structure, the knife tip and the knife head are pushed to move upwards by the piston and the fixed rod to penetrate through the clamping plate to cut the tomato stem, meanwhile, the interval of the stem cutting surface is expanded through the widening piece, the stem cutting surface is prevented from being attached to the knife body, the friction force is increased to block the movement of the knife tip, then, the juice adhered to the surface of the shearing tool is cleaned by the friction block and the scraping pad, and meanwhile, a certain extrusion force is ensured to exist between the friction block and the scraping pad and the surface of the shearing tool through the interaction force and the deformation performance of the pressure release piece and the pressurizing pad, the attachment force of the contact surface is ensured, the juice is completely cleaned, and the juice residue is prevented from influencing the subsequent use.

Description

Automatic tomato harvesting equipment capable of achieving limiting rhizome shearing

Technical Field

The invention relates to the field of agricultural harvesting machinery, in particular to automatic tomato harvesting equipment capable of limiting cutting of rhizomes.

Background

Along with the agricultural mechanization constantly strengthens to intelligent degree for agricultural labour liberates gradually, wherein because fruit picking operation intensity of labour is big, wastes time and energy, picks inefficiency, uses the ripe fruit of carrying on of picking robot intelligence to select mostly, then picks by oneself and deposits, and current conventional art considers not comprehensively, has following drawback:

at present, the picking robot firstly picks fruits for picking the tomatoes, then the fruits are broken off from stem nodes through rotation of the mechanical arm and are taken out, however, the tomatoes belong to soft fruits, in order to guarantee integrity of the fruits, the mechanical arm is very limited in force, the stem nodes cannot be broken off completely, violent pulling is caused, the tomatoes are damaged, and due to the fact that the tomatoes grow in clusters, the violent pulling easily causes damage to other immature fruits, and the growth of the tomatoes is influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an automatic tomato harvesting device capable of cutting roots and stems in a limiting mode, and aims to solve the problems that most of tomatoes picked by a picking robot in the prior art are firstly picked, and then the fruits are broken off and taken out from stem nodes through rotation of a manipulator, but the tomato belongs to soft fruits, the manipulator is quite limited in force and cannot completely break the stem nodes to ensure the integrity of the soft fruits, so that violent pulling is caused to damage the tomato, and the tomato grows in clusters mostly, so that other immature fruits are easily damaged by the violent pulling, and the later growth of the immature fruits is influenced.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the utility model provides an automatic harvesting equipment of tomato of spacing shearing rhizome, its structure includes walking platform, control machine display, camera support, camera, arm, fruit basket, cuts the rhizome device, places the pocket, the upper surface mounting of walking platform has control machine display, camera support embedding is installed in the upper surface of walking platform, the camera is installed on the top of camera support, the arm is located the upper surface of walking platform, it installs in the head end of arm to cut the rhizome device, the below of cutting the rhizome device is equipped with places the pocket, the upper surface mounting of walking platform has the fruit basket and is connected through the mode of bonding, it includes housing, electro-magnet, magnetism stop gear, air valve switch, climbing mechanism, shearing cutter, cleans up rust-proof structure to cut the rhizome device, the inner wall of housing is connected through the mode of bonding with the electro-magnet, the utility model discloses a shearing tool, including shell, magnetism stop gear, air valve switch, climbing mechanism, shearing tool, outer housing, magnetism stop gear locates the inboard of electro-magnet, the air valve switch is connected with climbing mechanism, shearing tool installs on climbing mechanism's top, clean up rust-resistant structure embedding and install in the inside of outer housing and locate shearing tool's top.

As a further scheme of the invention, the magnetic limiting mechanism is provided with an armature, a rotary table, a rotary spring and a clamping plate, the armature is arranged on the outer surface of the rotary table and fixedly connected in an adhesion mode, the rotary table is connected with the clamping plate in a welding mode, and the rotary spring is arranged on the back of the rotary table.

As a further scheme of the invention, the jacking mechanism is provided with a barrel sleeve, a piston, a fixed rod, a buffer washer and a limiting block, wherein the inner wall of the barrel sleeve is nested with the piston and is connected with the piston in a sliding manner, the piston is connected with the fixed rod, the buffer washer is mounted at the top end of the barrel sleeve and is connected with the fixed rod in a nesting manner, and the limiting block is arranged on the inner wall of the barrel sleeve and is connected with the barrel sleeve in a welding manner.

According to a further scheme of the invention, the shearing tool is provided with a tool tip, a tool bit, a tool body and a widening piece, the tool bit is mounted at the bottom end of the tool tip and connected in a welding mode, the tool bit is connected with the tool body, and the widening piece is arranged on the outer side of the tool body and fixedly connected in a fitting mode.

The wiping-cleaning anti-rust structure is provided with a friction block, a scraping pad, a mounting plate, a force release piece, a pressurizing pad and an isolation frame, wherein the friction block is connected with the scraping pad, the friction block is embedded in the upper surface of the mounting plate, the bottom surface of the mounting plate is provided with the force release piece and is connected in a welding mode, the force release piece is connected with the pressurizing pad in a fitting mode, the outer side of the pressurizing pad is connected with the isolation frame in a nesting mode, and the pressurizing pad is attached to the isolation frame.

As a further scheme of the invention, the wiping and cleaning anti-rust structure is U-shaped and is connected with the outer casing in a buckling mode.

As a further aspect of the invention, the pressure increasing pad is made of an elastic material and has good deformation rebound performance.

As a further scheme of the invention, the surface of the force release part is in a smooth semicircular shape, so that the extrusion force can be dispersed, and the pressurizing pad is more uniformly stressed.

As a further aspect of the invention, the friction blocks and the scraping pads are connected with each other in pairs at intervals to form a continuous scraping wall.

As a further scheme of the invention, the broadening piece is made of stainless steel, the surface of the broadening piece is smooth, and the thickness of the broadening piece is consistent with that of the cutter head.

As a further scheme of the invention, the side view of the clamping plate is concave, so that the shearing tool can conveniently penetrate through the clamping plate to completely cut the tomato stem node.

Advantageous effects of the invention

Compared with the prior art, the invention enables ripe tomatoes to accurately enter the placing pocket through the control machine display, the stem nodes of the tomatoes are sunk into the inner side of the wiping anti-rust structure, then the electromagnet is controlled to be electrified to generate magnetism, the armature is attracted, the armature drives the rotary table to rotate anticlockwise, the rotary spring is twisted, the rotary table drives the clamping plate to rotate left, the tomato stem nodes are limited and fixed, the tomatoes are prevented from toppling due to the stress of the stem nodes, meanwhile, the air valve switch is opened, the piston and the fixed rod move upwards along the barrel sleeve under the pushing of air pressure, so that the knife tip and the knife head move upwards to penetrate through the wiping anti-rust structure to cut the stem nodes, the knife body and the widening piece penetrate through the stem nodes, the stem nodes of the cutting surface are prevented from being attached to the knife body to block the movement of the knife tip and the knife head, after the cutting is finished, the cutting knife is retracted, the friction block is attached to the surface of the scraping pad and contacted with the surface of the cutting knife, strike off the juice of its surface of gluing, utilize simultaneously that the interact power of effluence piece and pressure boost fill up rather than deformability, guarantee that the clutch blocks with strike off the pad and follow to have certain extrusion force between the shearing tool surface, guarantee the laminating dynamics of its contact surface, make its clear up juice completely, prevent that the juice from remaining the follow-up use of influence, then put into the fruit basket placing the inside tomato of pocket.

Compare in traditional tomato equipment of picking, this tomato equipment of picking makes the grip block rotate and wipes away the U type structure of clean rust-resistant structure and carry out spacing fixed to the tomato stem node jointly through armature, utilize piston and dead lever promotion knife tip and tool bit to move up, pass the grip block, cut the tomato stem node, simultaneously through widening the interval that the piece enlarges the stem node cutting plane, prevent stem node cutting plane laminating blade, increase frictional force hinders the removal of knife tip, then utilize the clutch blocks and strike off the pad and clear up the juice that glues in shearing tool surface, the mutual action power and the deformability through release force piece and pressure boost pad simultaneously, guarantee that there is certain extrusion force between clutch blocks and the pad of striking off and the shearing tool surface, guarantee the laminating dynamics of its contact surface, make its clear up the juice completely, prevent that the juice from remaining and influencing subsequent use.

Drawings

Other features, objects and advantages of the invention will become more apparent from a reading of the detailed description of non-limiting embodiments with reference to the attached drawings.

In the drawings:

fig. 1 is a schematic structural diagram of the automatic tomato harvesting equipment for limiting rhizome shearing.

FIG. 2 is a plan view of a top view of the root and stem cutting device of the present invention.

Fig. 3 is an analysis schematic diagram of components of a magnetic limiting mechanism in the rhizome shearing device according to the present invention.

Fig. 4 is a schematic diagram illustrating a part analysis of a lifting mechanism in the root and stem shearing device according to the present invention.

Fig. 5 is a schematic diagram illustrating a part analysis of a cutting blade in the root and stem cutting apparatus according to the present invention.

FIG. 6 is a schematic diagram showing the analysis of components of a wiping-off rust-proof structure in the rootstock shearing apparatus according to the present invention.

In the figure: a walking platform-1, a control machine display-2, a camera support-3, a camera-4, a mechanical arm-5, a fruit basket-6, a root cutting device-7, a placing pocket-8, an outer casing-71, an electromagnet-72, a magnetic limiting mechanism-73, an air valve switch-74, a jacking mechanism-75, a cutting tool-76, a cleaning and rust-proof structure-77, an armature-731, a turntable-732, a revolving spring-733, a clamping plate-734, a cylinder sleeve-751, a piston-752, a fixed rod-753, a buffer washer-754, a limiting block-755, a tool nose-761, a tool bit-762, a tool body-763, a widening piece-764, a friction block-771, a scraping pad-772, a mounting plate-773, A force relief component-774, a pressure boost pad-775 and an isolation frame-776.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-5, the invention provides a technical scheme of an automatic tomato harvesting device capable of limiting cutting of rhizomes, which comprises the following steps:

as shown in fig. 1-2, an automatic tomato harvesting device capable of limiting cut rhizome structurally comprises a walking platform 1, a control machine display 2, a camera support 3, a camera 4, a mechanical arm 5, a fruit basket 6, a rhizome cutting device 7 and a placing bag 8, wherein the control machine display 2 is mounted on the upper surface of the walking platform 1, the camera support 3 is mounted on the upper surface of the walking platform 1 in an embedded manner, the camera 4 is mounted at the top end of the camera support 3, the mechanical arm 5 is arranged on the upper surface of the walking platform 1, the rhizome cutting device 7 is mounted at the head end of the mechanical arm 5, the placing bag 8 is arranged below the rhizome cutting device 7, the fruit basket 6 is mounted on the upper surface of the walking platform 1 and connected with the fruit basket 6 in an adhesion manner, and the rhizome cutting device 7 comprises an outer housing 71, an electromagnet 72, a magnetic limiting mechanism 73, a positioning mechanism for limiting the tomato, Air valve switch 74, climbing mechanism 75, shearing tool 76, clean rust-resistant structure 77 of wiping, the inner wall of dustcoat 71 is connected through the mode of gluing with electro-magnet 72, magnetism stop gear 73 locates the left side of electro-magnet 72, air valve switch 74 is connected with climbing mechanism 75, shearing tool 76 installs in the top of climbing mechanism 75, clean rust-resistant structure 77 embedding is installed in the inside of dustcoat 71 and locate shearing tool 76's top.

As shown in fig. 3, the magnetic position-limiting mechanism 73 includes an armature 731, a rotating plate 732, a rotating spring 733, and a clamping plate 734, the armature 731 is mounted on an outer surface of the rotating plate 732 and fixedly connected thereto in an adhesive manner, the rotating plate 732 is connected to the clamping plate 734 in a welding manner, the rotating spring 733 is disposed on a back surface of the rotating plate 732, and the clamping plate 734 is driven by the armature 731 to move, so that the clamping plate 734 limits and fixes the tomato stem node.

As shown in fig. 4, the jacking mechanism 75 is provided with a barrel 751, a piston 752, a fixed rod 753, a buffer washer 754 and a limit block 755, wherein the inner wall of the barrel 751 is nested with the piston 752 and is connected with the piston 752 in a sliding manner, the piston 752 is connected with the fixed rod 753, the buffer washer 754 is mounted at the top end of the barrel 751 and is connected with the fixed rod 753 in a nesting manner, the limit block 755 is arranged on the inner wall of the barrel 751 and is connected with the inner wall of the barrel 753 in a welding manner, and the fixed rod 753 is used for pushing the shearing cutter 76 to move along the direction of the barrel 751 so as to shear the tomato stem sections.

As shown in fig. 5, the shearing tool 76 includes a cutting tip 761, a cutting head 762, a cutting body 763, and a widening member 764, wherein the cutting head 762 is installed at a bottom end of the cutting tip 761 and connected by welding, the cutting head 762 is connected with the cutting body 763, the widening member 764 is installed on an outer side of the cutting body 763 and fixedly connected by fitting, a stem node is cut by the cutting tip 761, a cutting interval of the stem node is widened by the cutting head 762 and the widening member 764, and resistance of the stem node fitting to movement of the cutting tip 761 is reduced.

As shown in fig. 6, the wiping-cleaning antirust structure 77 is provided with a friction block 771, a scraping pad 772, a mounting plate 773, a force releasing piece 774, a pressure increasing pad 775 and an isolation frame 776, wherein the friction block 771 is connected with the scraping pad 772, the friction block 771 is embedded in the upper surface of the mounting plate 773, the bottom surface of the mounting plate 773 is provided with the force releasing piece 774 and is connected in a welding manner, the force releasing piece 774 is connected with the pressure increasing pad 775 in a fitting manner, the outer side of the pressure increasing pad 775 is connected with the isolation frame 776 in a nesting manner, the pressure increasing pad 775 is attached with the isolation frame 776, the friction block 771 is in contact with the surface of the scraping pad 772 to scrape off bonded juice, and the pressure releasing piece 774 and the pressure increasing pad 775 are used to ensure that the friction block 771 is in close contact with the scraping pad 772.

As shown in FIG. 2, the wiping and rust-proof structure 77 is U-shaped, so as to be convenient for limiting and fixing the tomato stem nodes together with the clamping plate 734, and is connected with the outer casing 71 in a snap-fit manner, so that the cleaning and the disassembly are easy.

The specific realization principle is as follows: through the control machine display 2, ripe tomatoes accurately enter the placing pocket 8, stem nodes of the tomatoes sink into the clean antirust structure 77, then the electromagnet 72 is controlled to be electrified to generate magnetism, the armature 731 is attracted, the armature 731 drives the rotary disc 732 to rotate anticlockwise, the rotary spring 733 is twisted, the rotary disc 732 drives the clamping plate 734 to rotate left to limit and fix the stem nodes of the tomatoes, the tomatoes are prevented from toppling due to the stress of the stem nodes, meanwhile, the air valve switch 74 is opened, the piston 752 and the fixed rod 753 move upwards along the barrel sleeve 751 under the pushing of air pressure, so that the knife tip 761 and the knife head 762 move upwards to penetrate through the clean antirust structure 77 to cut the stem nodes, meanwhile, the knife body 763 and the widening piece 764 penetrate through the stem nodes to prevent the stem nodes of the cutting surface from being attached to the knife body 763 to hinder the movement of the knife tip 761 and the knife head 762, and after the cutting is finished, the cutting knife 76 is retracted, friction block 771 and scraping pad 772 are in contact with shearing tool 76 surface laminating mutually, scrape the juice of bonding its surface, utilize simultaneously the interact power and the deformability of efflorescence piece 774 and pressure boost pad 775, guarantee that friction block 771 and scraping pad 772 have certain extrusion force with shearing tool 76 between the surface, guarantee the laminating dynamics of its contact surface, make its clear up juice completely, prevent that the juice from remaining the follow-up use of influence, then put into fruit basket 6 placing the inside tomato of pocket 8.

The invention solves the problem that most of the picking of tomatoes by the existing picking robot in the prior art is to grab the fruits firstly and then break the fruits out of the stem nodes by the rotation of a mechanical arm, but because the tomatoes are soft fruits, the force used by the mechanical arm is very limited to often not break the stem nodes completely, so that violent pulling is caused to damage the tomatoes, and because most of the tomatoes grow in clusters, the violent pulling is easy to cause damage to other immature fruits and influence the subsequent growth, through the mutual combination of the components, an armature 731 enables a clamping plate 734 to rotate and a U-shaped structure of a wiping-up rust-proof structure 77 to limit and fix the tomato stem nodes together, a piston 752 and a fixing rod 753 are utilized to push a tool nose 761 and a tool bit 762 to move upwards to penetrate through the clamping plate 734 to cut the tomato stem nodes, and simultaneously, the interval of the cutting surfaces of the stem nodes is expanded through an expanding piece 764, prevent stem node cutting face laminating blade 763, increase frictional force hinders the removal of knife tip 761, then utilize clutch blocks 771 and strike off pad 772 to glue and clear up in the juice on shearing tool 76 surface, the interact power and the deformability through efforce piece 774 and pressure boost pad 775 simultaneously, guarantee that there is certain extrusion force between clutch blocks 771 and strike off pad 772 and the shearing tool 76 surface, guarantee the laminating dynamics of its contact surface, make it clear up the juice completely, prevent that the juice from remaining and influencing subsequent use.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an automatic equipment of gathering of tomato of spacing shearing rhizome, its structure includes walking platform (1), accuse machine display (2), camera support (3), camera (4), arm (5), fruit basket (6), cuts rhizome device (7), places pocket (8), its characterized in that: the machine-controlled fruit root cutting machine is characterized in that a control machine display (2) is mounted on the upper surface of the walking platform (1), the camera support (3) is embedded in the upper surface of the walking platform (1), a camera (4) is mounted at the top end of the camera support (3), the mechanical arm (5) is arranged on the upper surface of the walking platform (1), the root cutting device (7) is mounted at the head end of the mechanical arm (5), a placing pocket (8) is arranged below the root cutting device (7), and a fruit basket (6) is mounted on the upper surface of the walking platform (1) and connected with the fruit basket in an adhesion mode;

the rhizome shearing device (7) comprises an outer casing (71), an electromagnet (72), a magnetic limiting mechanism (73), an air valve switch (74), a jacking mechanism (75), a shearing cutter (76) and a wiping-off rust-proof structure (77), wherein the inner wall of the outer casing (71) is connected with the electromagnet (72) in a bonding mode, the magnetic limiting mechanism (73) is arranged on the inner side of the electromagnet (72), the air valve switch (74) is connected with the jacking mechanism (75), the shearing cutter (76) is arranged at the top end of the jacking mechanism (75), and the wiping-off rust-proof structure (77) is embedded in the outer casing (71) and arranged above the shearing cutter (76);

the magnetic limiting mechanism (73) is provided with an armature (731), a rotating disc (732), a rotary spring (733) and a clamping plate (734), the armature (731) is installed on the outer surface of the rotating disc (732) and fixedly connected in an adhesion mode, the rotating disc (732) is connected with the clamping plate (734) in a welding mode, and the rotary spring (733) is arranged on the back surface of the rotating disc (732);

the jacking mechanism (75) is provided with a cylinder sleeve (751), a piston (752), a fixed rod (753), a buffer gasket (754) and a limiting block (755), the inner wall of the cylinder sleeve (751) is embedded and sleeved with the piston (752) and is connected with the fixed rod (753) in a sliding mode, the piston (752) is connected with the fixed rod (753), the buffer gasket (754) is installed at the top end of the cylinder sleeve (751) and is connected with the fixed rod (753) in an embedded mode, and the limiting block (755) is arranged on the inner wall of the cylinder sleeve (751) and is connected with the inner wall of the cylinder sleeve (751) in a welding mode;

the shearing tool (76) is provided with a tool nose (761), a tool bit (762), a tool body (763) and a widening piece (764), the tool bit (762) is installed at the bottom end of the tool nose (761) and connected in a welding mode, the tool bit (762) is connected with the tool body (763), and the widening piece (764) is arranged on the outer side of the tool body (763) and fixedly connected in a fitting mode;

the wiping-cleaning antirust structure (77) is provided with a friction block (771), a scraping pad (772), a mounting plate (773), a force release piece (774), a pressurizing pad (775) and an isolation frame (776), the friction block (771) is connected with the scraping pad (772), the friction block (771) is embedded in the upper surface of the mounting plate (773), the bottom surface of the mounting plate (773) is provided with the force release piece (774) and connected with the pressure release pad (775) in a fitting mode, the outer side of the pressurizing pad (775) is connected with the isolation frame (776) in a nesting mode, and the pressure release pad (775) is attached with the isolation frame (776);

the wiping and cleaning anti-rust structure (77) is U-shaped and is connected with the outer housing (71) in a buckling mode.