CN212520032U - Lotus seedpod picking and conveying device - Google Patents

Abstract

The utility model relates to a conveying device is picked to seedpod of lotus, it mainly includes conveyor and picking device, when the seedpod of lotus is in picking the device, flexible profile modeling fruit in the picking device drags to be driven by rack and pinion and screw rod mechanism, lift the seedpod of lotus that hangs down, discernment by the image acquisition identification unit in the picking device again, judge the ripe condition of seedpod of lotus fruit, if ripe, miniature conveyor continues the motion in opposite directions, press from both sides tight and carry backward ripe seedpod of lotus stem stalk, cut the seedpod of lotus stem stalk through annular blade, make the seedpod of lotus fall into on the broach collecting plate; the comb tooth transmission belt of the conveying device conveys the lotus seedpods into a collecting basket at the rear part, and picking and conveying actions are completed. The utility model discloses can discern the ripe condition of seedpod of the lotus and pick and carry the collection to ripe fruit, improve and pick efficiency and save the cost of labor.

Description

Lotus seedpod picking and conveying device

Technical Field

The utility model relates to the technical field of agricultural machinery, especially a conveyor is picked to seedpod of lotus.

Background

As a big agricultural country, China has a wide lotus seedpod planting area, and fresh lotus seeds are increasingly demanded as food with various effects. However, the automatic lotus seedpod picking technology in China is relatively laggard in development, the main picking mode is manual picking, large-area harvesting is not facilitated for one-time large-area harvesting due to the fact that lotus seedpods are not distributed uniformly, the maturing time is not consistent, the area is large and the like, and therefore harvesting needs to be carried out manually for multiple times, picking work is time-consuming and labor-consuming, and labor cost is huge. There is therefore a need for a hitch that can recognize, determine, pick and deliver in combination with an implement machine to address this problem.

SUMMERY OF THE UTILITY MODEL

The utility model provides a solve above-mentioned prior art's weak point, provide a conveyor is picked to seedpod of lotus, through machine vision, automated control, realize the judgement of seedpod of lotus maturity and pick and carry the operation.

The to-be-solved technical problem of the utility model is realized by adopting the following scheme:

a lotus seedpod picking and conveying device comprises a conveying device and a picking device, wherein the conveying device comprises a driving motor connected with a driving roller shaft, a conveying frame is provided with a plurality of groups of gear supporting groups and a pressing idler wheel, and a tensioning device is arranged at the tail end of a conveying belt; the picking device comprises: the miniature transmission devices are arranged in the left and right opposite directions, are arranged on the lifting platform through the optical axis and the optical axis seat, and move in opposite directions through the gear rack mechanism to complete the functions of clamping, transporting and shearing lotus seedpod stalks; the upper panel of the picking device is provided with a driving motor, an image acquisition and identification unit and a light box.

The frame of the conveying device is composed of a first conveying section and a second conveying section which are fixedly connected through a first supporting adapter plate, and the frame of the conveying device is integrally fixed by a gear supporting group.

And the tail end of the conveying device frame is provided with a tensioning device.

Preferably, the picking device is composed of a first picking section and a second picking section, the first picking section and the second picking section are fixed through a second supporting adapter plate and a third comb tooth collecting plate, and the picking device is installed with the conveying device through the third comb tooth collecting plate and the third supporting adapter plate.

Preferably, the picking device upper panel is connected with the comb tooth collecting plate through four vertical supporting rods, the picking device upper panel is provided with a driving motor, an image acquisition and identification unit and a light box, the driving motor is connected with the screw rod through a coupler, and the screw rod nut is arranged on the lifting platform.

The miniature transmission device is driven by a gear rack to support a linear bearing fixed on the optical axis, so that the miniature transmission device can horizontally move.

Preferably, the support frame of the miniature transmission device of the picking device is provided with the flexible profiling fruit support, the profiling fruit support moves along with the miniature transmission device in the horizontal opposite direction, so that the profiling fruit support is positioned below the lotus seedpod, and when the lifting platform moves upwards, the profiling fruit support can support the lotus seedpod, so that the image acquisition and identification unit can acquire images conveniently and judge whether the images are ripe.

The upper supporting plate and the lower supporting plate of the miniature transmission device are fixed through grooves in the side faces of the supporting frame, the upper supporting plate and the lower supporting plate are connected with the supporting frame through four groups of elastic elements respectively, and the upper supporting plate and the lower supporting plate are fixed through supporting columns.

Preferably, the last backup pad of miniature transmission device is equipped with worm gear reduction motor, and terminal gear train has bulb pull rod and T type tensioning connecting piece, and wherein the gear train is supported by the flange bearing of installing at upper and lower panel, and the gear mounting is on the transmission shaft, through jackscrew and bearing thrust collar axial positioning, and miniature transmission band passes through the gear and drives, and when miniature transmission device moved in opposite directions, two miniature transmission bands were through being close to each other with centre gripping seedpod of lotus stem stalk, made the seedpod of lotus rearward movement through the effect of friction power.

Preferably, the ring blades are installed on the tail end tensioning gear set of the miniature transmission device in a staggered mode, and when the miniature transmission device moves in opposite directions, the cutting edges of the two ring blades are staggered, so that the lotus seedpod stalks can be cut conveniently.

To sum up, the utility model discloses in relating to the theory, there are following innovation point and advantage in the mechanical structure design:

the conveying mechanism adopts a plurality of groups of gears, a pressing idler wheel for supporting, limiting and transmitting, can reduce vibration and ensure stable transmission, and adopts a structure of a transmission belt with comb teeth to effectively convey the lotus seedpod to a collection range; the design of image acquisition identification element in the picking mechanism has the light box, can reduce external light source interference, improve the discernment rate of accuracy, flexible profile modeling fruit support is installed to the carriage, protect it not by the damage when lifting to the seedpod of lotus, during miniature conveyor opposite direction motion, elastic element can provide frictional force as much as possible for pressing from both sides tight seedpod of lotus stem stalk, two ring blade cutting edges are crisscross, install at miniature conveyor, can the syntropy rotate make seedpod of lotus stem stalk be drawn into and cut, the seedpod of lotus after being cuted falls into in the broach collecting plate, the broach collecting plate has certain radian, thereby can make the seedpod of lotus slide as far as possible and collect the within range and laminate the broach conveyer belt and be carried appointed area.

The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the technical means of the present invention is implemented to the extent that those skilled in the art can implement the technical solutions according to the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable later, the following practical examples are given with reference to the detailed embodiments of the present invention.

Drawings

Fig. 1 is a schematic structural diagram of a lotus seedpod recognizing and picking conveying device.

Fig. 2 is a schematic structural view of the conveying device.

Fig. 3 is a schematic structural view of the picking device.

Fig. 4 is a schematic structural diagram of a micro-delivery device.

FIG. 5 is a schematic view of a comb collection plate.

Fig. 6 is a schematic view of the structure of the support gear set and the idler.

Fig. 7 is a schematic view of a rack and pinion propulsion mechanism.

Detailed Description

Detailed description of the inventionwhile specific embodiments of the present invention are shown in the drawings in greater detail, it is to be understood that the invention may be embodied in various forms and should not be limited to the examples set forth herein, which are provided for purposes of providing a more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art.

For better understanding, fig. 1 is a schematic structural view of a rosette recognition picking conveyor. As shown in the figure, the lotus seedpod recognition picking conveying device comprises a conveying device (1) and a picking device (3).

In one embodiment, the delivery device described in fig. 2 and 6: the frame of the conveying device is composed of two groups of conveying section bars I (10) and two groups of conveying section bars II (17), and the two groups of conveying section bars I and the two groups of conveying section bars II are fixedly connected through a supporting adapter plate I (13). The conveying device is powered by a driving motor (9), rotates through driving a driving roller (14) to drive a comb tooth conveying belt (16) to move, and moves under the support and limiting of a plurality of gear support groups (15) and a pressing idler wheel group (11), so that vibration can be reduced, and stable transmission is guaranteed. Wherein gear support group (15) are including carrying gear (58), carrying transmission shaft (57), carry horizontal bearing (56), and suppression idler group (11) are including suppression idler (53), connecting axle (54), suppression vertical bearing (55), and wherein suppression idler (53) have the flange design, do not take place the skew when can fixing broach transmission band (16) operation. The tail end of the conveying device is provided with a tensioning device (6-8) which comprises a tensioning frame (7), a tensioning bearing (6) and a tensioning hand wheel (8), and the tensioning bearing (6) is pushed to drive a driven shaft to longitudinally move by rotating the tensioning hand wheel (8) so as to tension the comb conveying belt (16). The comb tooth conveying belt (16) is provided with comb teeth, and two sides of the comb tooth part are provided with flanges which can drive the lotus seedpod to move for collection.

In one embodiment, the picking device described in fig. 3 and 7: the whole miniature transmission device is fixed on a lifting platform (48) through an optical axis (44), a linear bearing (45) and an optical axis seat (43), and the miniature transmission devices move in opposite directions through a gear rack mechanism (as shown in figure 7), so that the whole miniature conveying device (4) is pushed out to clamp the lotus seedpod stalks. Pick device top panel (22) and install driving motor (33), driving motor (33) pass through shaft coupling (37) with lead screw (35) and are connected, and screw-nut (42) are fixed on lift platform (48), drive lift platform (48) and go up and down in order to lift the seedpod of lotus, are equipped with identification unit (52) and light box (5) on picking panel (2), and light box (5) can shelter from most outdoor interference light source, improve the discernment rate of accuracy. The picking device is composed of two groups of picking section bars I (50) and picking section bars II (37), the two groups of picking section bars I and picking section bars II are fixed through a supporting adapter plate II (41) and a comb tooth collecting plate (49), and the picking device is installed together with the conveying device through the comb tooth collecting plate (49) and a supporting adapter plate III (36).

In one embodiment, the upper supporting plate (25) and the lower supporting plate (19) of the micro conveying device shown in fig. 4 are fixed through a groove on the side surface of a supporting frame (24) to limit the upper supporting plate and the lower supporting plate to move linearly only in the groove, four groups of elastic elements (21) are used for connecting the upper supporting plate and the lower supporting plate with the supporting frame (24) respectively, when the shearing and collecting operation is carried out, the two groups of micro conveying devices move oppositely, under the action of the elastic elements (21), the micro conveying belt (4) of the micro conveying device is closed to press the lotus seedpod stalks to increase friction force, and the upper supporting plate and the lower supporting plate are fixed through supporting columns (18) to increase the strength. Last backup pad (25) of miniature transmission device is equipped with worm gear reduction motor (31), and it drives the gear train transmission, and the gear train end has bulb pull rod (26) and T type tensioning connecting piece (27) can tensioning miniature conveyer belt (4), and wherein the gear train is supported by flange bearing (30) of installing at upper and lower panel, and gear (23) are installed and are rotated on transmission shaft (22), through jackscrew and bearing thrust collar (29) axial positioning. The end tensioning gear set of the miniature transmission device is provided with a circular blade (20), the circular blade (20) rotates along with the gear set, and the lotus seedpod stalks transported by the miniature conveying belt (4) are sheared by the two groups of relatively rotating circular blades (20).

In one embodiment, see the schematic view of the comb-teeth collection plate (49) shown in fig. 5, the cut rosette falls into the comb-teeth collection plate (49), and the comb-teeth collection plate (49) is designed with a certain curvature and gap and can be staggered and spaced from the moving comb-teeth conveyor belt (16), so that the rosette slides into the collection range as much as possible and fits the comb-teeth conveyor belt to be conveyed to a designated area.

Claims (10)

1. The utility model provides a conveyor is picked to seedpod of lotus which characterized in that: the device comprises a conveying device and a picking device, wherein the conveying device comprises a driving motor connected with a driving roller shaft, a conveying frame is provided with a plurality of groups of gear supporting groups and a pressing idler wheel, and a tensioning device is arranged at the tail end of a conveying belt; the picking device comprises: the miniature transmission devices are arranged in the left and right opposite directions, are arranged on the lifting platform through the optical axis and the optical axis seat, and move in opposite directions through the gear rack mechanism to complete the functions of clamping, transporting and shearing lotus seedpod stalks; the upper panel of the picking device is provided with a driving motor, an image acquisition and identification unit and a light box.

2. The rosette picking conveyor of claim 1, wherein: the frame of the conveying device is composed of a first conveying section and a second conveying section which are fixedly connected through a first supporting adapter plate, and the frame of the conveying device is integrally fixed by a gear supporting group.

3. The rosette picking conveyor of claim 1, wherein: and the tail end of the conveying device frame is provided with a tensioning device.

4. The rosette picking conveyor of claim 1, wherein: the picking device is composed of a first picking section and a second picking section, the first picking section and the second picking section are fixed through a second supporting adapter plate and a third comb tooth collecting plate, and the picking device is installed together with the conveying device through the third comb tooth collecting plate and the third supporting adapter plate.

5. The rosette picking conveyor of claim 1, wherein: the upper panel of the picking device is connected with the comb tooth collecting plate through four vertical supporting rods, the upper panel of the picking device is provided with a driving motor, an image acquisition and identification unit and a light box, the driving motor is connected with a screw rod through a coupler, and a screw rod nut is installed on a lifting platform.

6. The rosette picking conveyor of claim 1, wherein: the miniature transmission device is driven by a gear rack to support a linear bearing fixed on the optical axis, so that the miniature transmission device can horizontally move.

7. The rosette picking conveyor of claim 1, wherein: the flexible profiling fruit support is arranged on a supporting frame of a micro transmission device of the picking device and moves in opposite directions along with the level of the micro transmission device, so that the profiling fruit support is located below the lotus seedpod, and when the lifting platform moves upwards, the profiling fruit support can support the lotus seedpod, and the image acquisition and recognition unit can acquire images conveniently and judge whether the images are mature.

8. The rosette picking conveyor of claim 6, wherein: the upper supporting plate and the lower supporting plate of the miniature transmission device are fixed through grooves in the side faces of the supporting frame, the upper supporting plate and the lower supporting plate are connected with the supporting frame through four groups of elastic elements respectively, and the upper supporting plate and the lower supporting plate are fixed through supporting columns.

9. The rosette picking conveyor of claim 6, wherein: the last backup pad of miniature transmission device is equipped with worm gear reduction motor, and terminal gear train has bulb pull rod and T type tensioning connecting piece, and wherein the gear train is supported by the flange bearing of installing panel from top to bottom, and the gear is installed on the transmission shaft, through jackscrew and bearing thrust ring axial positioning, and miniature transmission band passes through the gear and drives, and when miniature transmission device moves in opposite directions, two miniature transmission bands are through being close to each other with centre gripping seedpod of lotus stem stalk, make the seedpod of the lotus move backward through the effect of frictional force.

10. The rosette picking conveyor of claim 6, wherein: the ring blades are installed on the tail end tensioning gear set of the miniature transmission device, the two ring blades are installed in a staggered mode, and when the miniature transmission device moves in opposite directions, the cutting edges of the two ring blades are staggered, so that the lotus seedpod stalks can be cut conveniently.

Images