WO2020239059A1 - 一种多功能草莓采摘机 - Google Patents

一种多功能草莓采摘机 Download PDF

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Publication number
WO2020239059A1
WO2020239059A1 PCT/CN2020/093183 CN2020093183W WO2020239059A1 WO 2020239059 A1 WO2020239059 A1 WO 2020239059A1 CN 2020093183 W CN2020093183 W CN 2020093183W WO 2020239059 A1 WO2020239059 A1 WO 2020239059A1
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WO
WIPO (PCT)
Prior art keywords
picking
telescopic
lifting
block
strawberry
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PCT/CN2020/093183
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English (en)
French (fr)
Inventor
陈丰
李成浩
钟继宇
曹泽泽
郑晓宇
程涛
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安徽科技学院
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Application filed by 安徽科技学院 filed Critical 安徽科技学院
Publication of WO2020239059A1 publication Critical patent/WO2020239059A1/zh

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    • 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
    • A01D46/22—Baskets or bags attachable to the picker
    • 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
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices

Definitions

  • the invention relates to the field of agricultural machinery, in particular to a multifunctional strawberry picking machine.
  • Strawberry is one of the most common fruits in daily life. It is soft and juicy, and it is delicious and sweet. However, due to the backward manual operation in the picking process, the development of strawberry planting industry is restricted.
  • the Belgian engineering company Octinion has developed a strawberry picking robot equipped with machine vision and 3D printed "hands". Its advanced computer vision system can determine when a strawberry is ripe and ready for picking, picking a strawberry in an average of 5 seconds. However, specific strawberry ridges are required, and they are expensive.
  • the robot developed by the Japanese company Shibuya Seiki and the National Agricultural and Food Research Organization can pick strawberries at a rate of one every eight seconds.
  • the robot has multiple probes for common recognition and high accuracy.
  • the picking speed is slow, and the entire greenhouse needs to be transformed.
  • the German picker fixes multiple sets of right-angle manipulator arms on the traveling vehicle, and each set of right-angle manipulator arms has a claw and a camera.
  • the claw and the camera form a visual system of hand-eye structure, and each group of manipulator arms independently recognizes.
  • the picking volume is large and requires a lot of manual cooperation.
  • the above strawberry picking machinery also has the following shortcomings. (1) The picking speed is slow and the efficiency is low. (2) High intelligence leads to high costs, which are unacceptable by farmers or agricultural operators, which is an important factor restricting the promotion and use of picking robots; (3) The operators of strawberry picking robots are farmers, not engineers with mechanical and electrical knowledge, and the reliability of the pickers Low, complex operation, maintenance of professionals is required.
  • the purpose of the present invention is to provide a multifunctional strawberry picking machine to solve the technical problems of high cost, large volume and inconvenient operation of strawberry picking equipment in the prior art.
  • the invention provides a multifunctional strawberry picking machine, which includes a base, a plurality of picking mechanisms and two conveying mechanisms.
  • the multiple picking mechanisms are equidistantly arranged at the upper end of the front of the base, and each of the picking mechanisms includes a lift Assembly and two picking assemblies, the two picking assemblies are symmetrically arranged on both sides of the lifting assembly, each of the picking assemblies includes a housing, a picking box slidably assembled in the housing, an image acquisition device, and a measuring device
  • the distance sensor, the driving part, the telescopic part with scissors, the image acquisition device and the distance measuring sensor are installed on the housing, the housing is fixedly connected with the lifting assembly, and the housing is provided with a sliding cavity, and the sliding cavity
  • An electric telescopic rod for driving the picking box to move linearly in and out of the housing is fixed inside, and an installation cavity is arranged in the picking box.
  • the driving part and the telescopic part are installed in the installation cavity, and the driving part is opposite to the telescopic part.
  • the two conveying mechanisms are symmetrically arranged on both sides of the base, and the front parts of the two conveying mechanisms are located below the picking assembly, and the lower end of the base is provided with a crawler wheel.
  • the lifting assembly includes a lifting frame, a lifting block, a rotating disk, a threaded rod, and two guide rods.
  • the lifting frame is vertically arranged on the upper end of the base, and the middle of the lifting frame is provided with a lifting groove, and two The two guide rods are arranged vertically in the lifting groove, and the upper and lower ends of each guide rod are respectively fixedly connected with the lifting frame and the base.
  • the lifting block is sleeved on the two guide rods and the lifting block is connected to the two guides.
  • the rod is slidingly fitted, the threaded rod is vertically arranged in the lifting groove, the upper end of the threaded rod penetrates the lifting frame and the connection between the threaded rod and the lifting frame is rotatably connected, and the lower end of the threaded rod is rotatably connected with the base.
  • the middle part of the lifting block is provided with a threaded hole which is threadedly matched with the threaded rod, and the rotating disk is fixedly installed at the upper end of the threaded rod.
  • each of the driving components includes a driving motor, a driving shaft, a worm, a worm gear, a transmission shaft and an eccentric wheel
  • the driving motor is arranged in the mounting cavity, and one end of the driving shaft is fixedly connected with the output end of the driving motor ,
  • the other end of the drive shaft is rotatably connected with the housing, the worm is sleeved on the drive shaft, both ends of the transmission shaft are rotatably connected with the housing, and the worm wheel and the eccentric are both sleeved on the transmission shaft
  • the worm gear meshes with the worm.
  • the telescopic component includes a telescopic block, a return spring, a runner, a telescopic connecting rod, and scissors.
  • the telescopic block is installed in the installation cavity and one end of the telescopic block extends to the outside of the picking box.
  • the telescopic block and the picking box Sliding fit the runner is installed at the rear of the telescopic block and the runner is matched with the eccentric, the middle of the telescopic block is provided with a telescopic cavity, the telescopic link is installed in the telescopic cavity and the front end of the telescopic link
  • the scissors are rotatably connected with the telescopic block, the scissors are installed at the front end of the telescopic connecting rod, the rear end of the telescopic connecting rod is provided with a connecting rod with one end rotatably connected to it, and the other end of the connecting rod is rotatably connected with the picking box.
  • the two ends of the return spring are respectively fixedly connected with the telescopic block and the picking box.
  • each of the conveying mechanisms includes a horizontal conveying belt and an inclined conveying belt, the horizontal conveying belt is arranged on the side of the base, and both sides of the upper end of the horizontal conveying belt are provided with obliquely arranged baffles.
  • One end of the conveyor belt is located below the end of the horizontal conveyor belt, the other side of the inclined conveyor belt is arranged obliquely upward, and the inclined conveyor belt is provided with several push plates arranged at equal intervals.
  • the end of the inclined conveyor belt is provided with a connecting assembly
  • the connecting assembly includes a limiting block and a sliding rail
  • the limiting block is installed at the lower end of the inclined conveyor belt
  • one end of the sliding rail is hinged with the inclined conveyor belt, so The lower end of the sliding track is matched with the limiting block.
  • a supporting platform is provided at the rear of the vehicle body, a plurality of clamping blocks are provided at the upper edge of the supporting platform, and two supporting baskets are provided on the supporting platform, each of the supporting baskets
  • the sidewalls are provided with two clamping bands, the clamping bands are matched with the clamping blocks, and the ends of the sliding rails at the ends of the two conveying mechanisms are respectively facing the inside of the two receiving baskets.
  • an armrest is provided at the upper end of the rear part of the base.
  • the present invention has the following beneficial effects:
  • the present invention has a simple structure, relatively common modern technology used, and relatively simple technical difficulty, which makes the present invention low in cost and easy to popularize and use.
  • the present invention only needs to make certain adjustments to the strawberry ridges when in use.
  • the requirements for strawberry sheds and other factors are low, and the strawberry planting cost will not increase, making the present invention further suitable for promotion.
  • the scissor part of the present invention adopts a structural design so that the scissor does not require a separate power input, and the simple mechanical structure simplifies the bloated transmission system and makes its work more reliable.
  • the design of the lower crawler wheel of the present invention enables it to move forward steadily even in uneven strawberry fields, without large ups and downs, and without shaking due to uneven ground.
  • the machine uses a battery as the driving force to make it simpler and more compact in structure. It also makes the follow-up maintenance of the present invention easier. Generally, the grower can complete the later maintenance by himself.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention when used in conjunction with strawberry ridges;
  • Figure 2 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 3 is an enlarged view of A in Figure 2;
  • Figure 4 is an enlarged view of B in Figure 2;
  • Figure 5 is an enlarged view of C in Figure 2;
  • Figure 6 is an enlarged view of D in Figure 2;
  • Figure 7 is a cross-sectional view of the picking assembly of the present invention.
  • Figure 8 is a schematic diagram of the connecting rod structure of the present invention.
  • Figure 9 is a schematic plan view of the matching relationship between the housing and the picking box of the present invention.
  • Base 1 picking mechanism 2, lifting assembly 21, lifting frame 211, lifting block 212, rotating disk 213, threaded rod 214, guide rod 215, lifting slot 216, picking assembly 22, housing 221, image acquisition device 222 , Drive component 223, drive motor 2231, worm 2233, worm gear 2234, transmission shaft 2235, eccentric wheel 2236, telescopic component 224, telescopic block 2241, return spring 2242, runner 2243, telescopic connecting rod 2244, scissors 2245, connecting rod 2246 , Mounting cavity 225, distance measuring sensor 226, picking box 227, sliding cavity 228, electric telescopic rod 229, conveying mechanism 3, horizontal conveyor belt 31, inclined conveyor belt 32, baffle 33, pusher 34, crawler wheel 4, The connecting component 5, the limiting block 51, the sliding rail 52, the supporting platform 6, the receiving basket 7, the cassette 8, the armrest 9, and the clamping block 10.
  • an embodiment of the present invention provides a multifunctional strawberry picking machine, including a base 1, a plurality of picking mechanisms 2 and two conveying mechanisms 3, and the plurality of picking mechanisms 2 are arranged at equal intervals At the upper end of the front of the base 1, each of the picking mechanisms 2 includes a lifting assembly 21 and two picking assemblies 22. The two picking assemblies 22 are symmetrically arranged on both sides of the lifting assembly 21.
  • Each picking assembly 22 includes a housing 221, a picking box 227 slidably assembled in the housing 221, an image acquisition device 222, a distance measuring sensor 226, a driving part 223, a telescopic part 224 with scissors 2245, the image acquisition
  • the identification device 222 and the distance measuring sensor 226 are respectively installed on the housing 221, the housing 221 is fixedly connected to the lifting assembly 21, and the housing 221 is provided with a sliding cavity 228, and the sliding cavity is fixed to drive the picking box linear
  • the electric telescopic rod 229 that moves in and out of the housing is provided with a mounting cavity 225 in the picking box 227.
  • the driving component 223 and the telescopic component 224 are both installed in the mounting cavity 225, and the driving component 223 cooperates with the telescopic component 224
  • the two conveying mechanisms 3 are symmetrically arranged on both sides of the base 1, and the front parts of the two conveying mechanisms 3 are located below the picking assembly 22.
  • the lower end of the base 1 is provided There are crawler wheels 4; the use of crawler wheels has strong ground adaptability.
  • the base 1 of the present invention is also provided with a battery, a driving mechanism, and a control system.
  • the battery can be a lead-acid battery, a nickel-hydrogen battery, a lithium battery, a fuel cell, or a solar battery, and is mainly used to provide electrical energy.
  • the driving mechanism is electrically connected to the control system and drives the crawler wheel 4 to rotate under the instruction of the control system. This part of the features is the prior art, so it will not be repeated in the present invention.
  • the picking mechanism 2, the conveying mechanism 3, the image acquisition device 222, the ranging sensor 226, and the electric telescopic rod 229 are respectively electrically connected to the control system.
  • the control system is mainly composed of a single-chip microcomputer and is used to control the picking mechanism 2, the conveying mechanism 3.
  • the electric telescopic rod 229 works; the image acquisition device and the ranging sensor are the existing technology, the image acquisition device is used to collect strawberry information and send it to the control system, and the control system reads the information and compares it with the preset information. Contrast, judge whether the strawberry is ripe or not; the distance measuring sensor is used to collect the distance information between the picking mechanism and the strawberry and transmit it to the control system. After analysis and processing, the control system sends instructions to the electric telescopic rod to control the length of the picking box out of the shell. Then control the distance the scissors extend for picking.
  • the form of the strawberry ridge is arc, as shown in the schematic diagram of the cooperation of the picking machine of the present invention with the strawberry ridges on both sides in FIG. 1, which facilitates the strawberry being cut and rolls down the ridge slope and falls into the conveying mechanism 3 by its own gravity Inside.
  • the strawberry information is collected by the image acquisition device 222 of the picking assembly 22, and the control system reads the information and compares it with the preset information to determine whether the strawberry is mature; For strawberries, the control system controls the driving part 223 to drive the scissors 2245 of the telescopic part 224 to pick the strawberries.
  • the picked strawberries roll down onto the conveying mechanism 3, and the strawberries are processed collectively by the conveying mechanism 3.
  • the height of the picking assembly 22 installed on both sides of the lifting assembly 21 can be adjusted through the lifting assembly 21, so that the multiple picking assemblies on one side of the base are presented in different height states to correspond to the different heights of the strawberry ridges.
  • the distance measuring sensor 226 is used to facilitate the measurement of the distance between the strawberry at a certain height of the strawberry ridge and the picking assembly in advance, and then the electric telescopic rod is used.
  • 229 drives the picking box 227 to extend out of the housing 221 for a certain length to cooperate with the scissors to complete the picking operation of strawberries.
  • the lifting assembly 21 includes a lifting frame 211, a lifting block 212, a rotating disk 213, a threaded rod 214, and two guide rods 215.
  • the lifting frame 211 is vertically arranged on the upper end of the base 1, and the lifting frame 211
  • a lifting groove 216 is provided in the middle, and two guide rods 215 are vertically arranged in the lifting groove 216.
  • the upper and lower ends of each guide rod 215 are respectively fixedly connected with the lifting frame 211 and the base 1.
  • the lifting block 212 sets It is installed on two guide rods 215 and the lifting block 212 is slidingly matched with the two guide rods 215; the setting of the guide rod 215 is used to restrict the moving direction of the lifting block 212, so that the moving block will not be horizontal during the lifting process.
  • the threaded rod 214 is vertically arranged in the lifting groove 216, the upper end of the threaded rod 214 penetrates the lifting frame 211 and the connection of the threaded rod 214 and the lifting frame 211 is rotatably connected, and the lower end of the threaded rod 214 is connected to the base
  • the seat 1 is rotatably connected, the middle of the lifting block 212 is provided with a threaded hole that is threaded with the threaded rod 214, and the rotating disk 213 is fixedly installed on the upper end of the threaded rod 214; the threaded rod 214 is driven to rotate by rotating the rotating disk 213, because
  • the lifting block 212 cooperates with the threaded rod 214 through the threaded hole, so that the lifting block 212 will move up and down along the axis of the threaded rod 214, thereby driving the picking assemblies 22 on both sides to move up and down, thereby adjusting the height of the picking assembly 22 to correspond to Pick strawberries at different heights of strawberry ridges
  • Each of the driving components 223 includes a driving motor 2231, a driving shaft, a worm 2233, a worm wheel 2234, a transmission shaft 2235, and an eccentric wheel 2236.
  • the driving motor 2231 is disposed in the mounting cavity 225, and one end of the driving shaft is connected to the driving The output end of the motor 2231 is fixedly connected, the other end of the drive shaft is rotatably connected with the picking box 227, the worm 2233 is sleeved on the drive shaft, both ends of the drive shaft 2235 are rotatably connected with the picking box 227, so
  • the worm wheel 2234 and the eccentric wheel 2236 are both sleeved on the transmission shaft 2235, and the worm wheel 2234 meshes with the worm 2233;
  • the drive motor 2231 drives the drive shaft to rotate, the drive shaft drives the worm 2233 to rotate, the worm 2233 drives the worm wheel 2234 to rotate, 2234 drives the transmission shaft 2235 to rotate, so that the transmission shaft 22
  • the eccentric wheel 2236 continuously pushes out the telescopic component 224 during the rotation, thereby driving the telescopic assembly to work; due to the speed comparison of the drive motor 2231 Fast, using the worm gear 2234 and worm 2233 to reduce speed and increase torque.
  • the telescopic component 224 includes a telescopic block 2241, a return spring 2242, a runner 2243, a telescopic link 2244, and a scissors 2245.
  • the telescopic block 2241 is installed in the installation cavity 225 and one end of the telescopic block 2241 extends to the outside of the picking box 227
  • the telescopic block 2241 is slidingly fitted with the picking box 227, the runner 2243 is installed at the rear of the telescopic block 2241 and the runner 2243 is matched with the eccentric 2236.
  • the function of the runner 2243 is to use rotation instead of sliding friction to avoid
  • the loss between the telescopic block 2241 and the eccentric wheel 2236 extends the service life of the picking assembly 22.
  • the middle of the telescopic block 2241 is provided with a telescopic cavity.
  • the telescopic link 2244 is installed in the telescopic cavity and the front end of the telescopic link 2244 is connected to the The telescopic block 2241 is rotatably connected, the scissors 2245 are installed at the front end of the telescopic link 2244, and the rear end of the telescopic link 2244 is provided with a link 2246 that is rotatably connected with one end.
  • the structure of the telescopic link 2244 is as shown in the drawings. As shown in 7, this structure is a prior art, which will not be repeated here.
  • the other end of the connecting rod 2246 is hinged to the picking box 227, and both ends of the return spring 2242 are fixedly connected to the telescopic block 2241 and the picking box 227, respectively.
  • the eccentric wheel 2236 rotates to push the telescopic block 2241 outward, the telescopic block 2241 pulls one end of the telescopic link 2244 to extend outward, and at the same time, the connecting rod 2246 pulls the other end of the telescopic link 2244, thereby making the telescopic
  • the connecting rod 2244 will drive the scissors 2245 to close while extending.
  • the scissors 2245 can cut the vines on the strawberry, so that the strawberry rolls down along the slope to the conveying mechanism 3.
  • the eccentric wheel 2236 continues to rotate, and the retractable block 2241 is pulled back to the original position inside the picking box 227 by the elastic force of the return spring 2242, so that the next cutting action can be performed.
  • Each conveying mechanism 3 includes a horizontal conveying belt 31 and an inclined conveying belt 32.
  • the horizontal conveying belt 31 is arranged beside the base 1 and both sides of the horizontal conveying belt 31 are provided with obliquely arranged baffles 33.
  • One end of the inclined conveyor belt 32 is located below the end of the horizontal conveyor belt 31, the other end of the inclined conveyor belt 32 is arranged obliquely upwards, and the inclined conveyor belt 32 is provided with several pushers arranged at equal intervals Plate 34; the cut strawberries roll down along the ridge slope onto the horizontal conveyor belt 31, and are conveyed backward through the horizontal conveyor belt 31, and then through the inclined conveyor belt 32 to convey the strawberries upward and rearward.
  • the pusher plate 34 The arrangement is to facilitate the upward transportation of strawberries along the inclined conveyor belt 32, wherein the rotation speeds of the horizontal conveyor belt 31 and the inclined conveyor belt 32 are kept the same to prevent the strawberries from being damaged during transportation.
  • the end of the inclined conveyor belt 32 is provided with a connecting assembly 5, the connecting assembly 5 includes a limiting block 51 and a sliding rail 52, the limiting block 51 is installed at the lower end of the inclined conveyor belt 32, one end of the sliding rail 52 and The inclined conveyor belt 32 is hinged, and the lower end of the sliding rail 52 is matched with the restricting block 51; the strawberry rolls down from the upper end of the inclined conveyor belt 32 along the sliding rail 52 for centralized processing.
  • the restricting block 51 is arranged as It is used to keep the sliding rail 52 in an inclined state.
  • the rear part of the vehicle body is provided with a supporting platform 6, a plurality of clamping blocks 10 are provided at the upper edge of the supporting platform 6, and two supporting baskets 7 are provided on the supporting platform 6, each
  • the side walls of the receiving basket 7 are each provided with two U-shaped clips 8 which cooperate with the clip 10, and the ends of the sliding rails 52 at the ends of the two conveying mechanisms 3 are respectively facing the two receiving baskets 7
  • the setting of the clamping belt 8 and the block 10 can guide the receiving basket 7 to move horizontally back and forth and prevent the receiving basket 7 from moving longitudinally; one end of the sliding rail 52 and inclined conveying
  • the hinged connection of the belt 32 makes it possible to rotate upward and slide down the rail 52 and cooperate with the receiving basket 7 which can move back and forth and laterally to facilitate the loading of strawberries.
  • the upper end of the rear part of the base 1 is provided with an armrest 9; the armrest 9 is used to control the forward direction of the present invention. Since the overall device of the present invention is small, it is convenient for direction control.
  • the working principle of the present invention first place two receiving baskets 7 on the supporting platform 6, and insert the cassette 8 with the card block 10. Then, the user controls the forward direction of the present invention through the armrest 9. During the forwarding process, The image collection device 222 of the picking assembly 22 collects strawberry information, and the control system reads the information and compares it with the preset information to determine whether the strawberry is ripe; afterwards, for ripe strawberries that can be picked, the control system controls the picking mechanism 2 and the conveying mechanism 3 work to drive the scissors 2245 of the telescopic member 224 to cut the vines of the strawberry to pick the strawberry, and then the strawberry rolls down along the ridge slope onto the horizontal conveyor belt 31, and is conveyed backward through the horizontal conveyor belt 31.
  • Strawberries are transported to the upper rear through the inclined conveyor belt 32, and the strawberries roll down from the upper end of the inclined conveyor belt 32 along the sliding rail 52 into the receiving basket 7.
  • the receiving basket 7 When the receiving basket 7 is full, it can be removed from the supporting platform 6 Remove and replace the empty receiving basket 7 and continue picking strawberries.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Harvesting Machines For Specific Crops (AREA)
  • Cultivation Of Plants (AREA)

Abstract

一种多功能草莓采摘机，属于农业机械领域，包括基座（1）、若干个采摘机构（2）和两个输送机构（3），每个采摘机构均包括升降组件（21）和两个采摘组件（22），两个采摘组件呈对称设置在升降组件的两侧，每个采摘组件均包括壳体（221）、图像采集识别装置（222）、测距传感器（226）、驱动部件（223）和伸缩部件（224），图像采集识别装置和测距传感器安装在壳体上，壳体与升降组件固定连接且壳体内设有滑动腔（228），滑动腔内固定有用于驱动采摘盒（227）直线移动进出壳体的电动伸缩杆（229），采摘盒内设有安装腔（225），驱动部件和伸缩部件均安装在安装腔内且驱动部件与伸缩部件相配合，基座的下端设有履带轮（4）。该采摘草莓机采摘效率高，操作简便，设备体积小，制造成本较低，适合推广使用。

Description

一种多功能草莓采摘机 技术领域
本发明涉及农业机械领域，尤其是涉及一种多功能草莓采摘机。
背景技术
草莓是日常生活中最为常见的水果之一,柔嫩汁多,形美味甜,深得人们喜爱。但是由于采摘环节落后的人工作业方式,制约了草莓种植业的发展。
因此,比利时工程公司Octinion开发了一种配备机器视觉和3D打印“手”的草莓采摘机器人。其先进的计算机视觉系统可以确定何时草莓成熟并准备采摘，平均5秒采摘一个草莓。但需要特定的草莓垄，且造价昂贵。
日本Shibuya Seiki的公司和国家农业和食品研究组织开发的机器人能够以每8秒钟一个的速度采摘草莓。机器人具有多个探头共同识别，精确度高。但采摘速度慢，需要对整个大棚进行改造。
德国的采摘器将多组直角机械臂固定在行走车上，并且每组直角机械臂上有一手爪和一摄像机，手爪和摄像机组成手眼结构的视觉系统，每组机械臂独立进行识别。采摘体积较大，需要大量的人工配合。
上述草莓采摘机械还存在以下不足之处，(1)采摘速度慢，效率低下。(2)高智能导致高成本，农民或农业经营者无法接受，是限制采摘机器人推广使用的重要因素；(3)草莓采摘机器人的操作者是农民，不是具有机电知识的工程师，采摘器可靠性低、操作复杂，需要专业人员保养。
发明内容
本发明的目的在于提供一种多功能草莓采摘机，以解决现有技术中草莓采摘设备成本高、体积大、操作不便的技术问题。
本发明提供一种多功能草莓采摘机，包括基座、若干个采摘机构和两个输送机构，若干个采摘机构呈等间距设置在基座前部的上端，每个所述采摘机构均包括升降组件和两个采摘组件，两个采摘组件呈对称设置在升降组件的两侧，每个所述采摘组件均包括壳体、可滑动地装配在壳体内的采摘盒、图像采集设别装置、测距传感器、驱动部件、带有剪刀的伸缩部 件，所述图像采集设别装置和测距传感器安装在壳体上，所述壳体与升降组件固定连接且壳体内设有滑动腔，且滑动腔内固定有用于驱动采摘盒直线移动进出壳体的电动伸缩杆，采摘盒内设有安装腔，所述驱动部件和伸缩部件均安装在安装腔内，且所述驱动部件与所述伸缩部件相配合用以控制剪刀开合，两个所述输送机构呈对称设置在基座的两侧且两个输送机构的前部均位于采摘组件的下方，所述基座的下端设有履带轮。
进一步，所述升降组件包括升降架、升降块、旋转盘、螺纹杆和两个导杆，所述升降架呈竖直设置在基座的上端，所述升降架的中部设有升降槽，两个导杆均呈竖直设置在升降槽内，每个导杆的上下两端分别与升降架和基座固定连接，所述升降块套设在两个导杆上且升降块与两个导杆滑动配合，所述螺纹杆呈竖直设置在升降槽内，螺纹杆的上端贯穿升降架且螺纹杆与升降架的连接处转动连接，所述螺纹杆的下端与基座转动连接，所述升降块的中部设有与螺纹杆螺纹配合的螺纹孔，所述旋转盘固定安装在螺纹杆的上端。
进一步，每个所述驱动部件均包括驱动电机、驱动轴、蜗杆、蜗轮、传动轴和偏心轮，所述驱动电机设置在安装腔内，所述驱动轴的一端与驱动电机的输出端固定连接，所述驱动轴的另一端与壳体转动连接，所述蜗杆套设在驱动轴上，所述传动轴的两端均与壳体转动连接，所述蜗轮和偏心轮均套设在传动轴上，所述蜗轮与蜗杆啮合。
进一步，所述伸缩部件包括伸缩块、复位弹簧、转轮、伸缩连杆和剪刀，所述伸缩块安装在安装腔内且伸缩块的一端延伸至采摘盒的外部，所述伸缩块与采摘盒滑动配合，所述转轮安装在伸缩块的后部且转轮与偏心轮相配合，所述伸缩块的中部设有伸缩腔，所述伸缩连杆安装在伸缩腔内且伸缩连杆的前端与伸缩块转动连接，所述剪刀安装在伸缩连杆的前端，所述伸缩连杆的后端设有一端与其转动连接的连杆，所述连杆的另一端与采摘盒转动连接，所述复位弹簧的两端分别与伸缩块和采摘盒固定连接。
进一步，每个所述输送机构均包括水平输送带和倾斜输送带，所述水平输送带设置在基座的旁侧且水平输送带上端的两侧均设置呈倾斜设置的挡板，所述倾斜输送带的一端位于水平输送带端部的下方，所述倾斜输送带的另一顿倾斜向上设置，所述倾斜输送带上设有若干个呈等间距设置 的推料板。
进一步，所述倾斜输送带的末端设有衔接组件，所述衔接组件包括限制块和滑落轨道，所述限制块安装在倾斜输送带的下端，所述滑落轨道的一端与倾斜输送带铰接，所述滑落轨道的下端与限制块相配合。
进一步，所述车体的后部设有承托平台，所述承托平台的上端边缘处设置有若干个卡块，所述承托平台上设置有两个承接篮，每个所述承接篮的侧壁上均设有两个卡带，所述卡带与卡块相配合，两个输送机构末端的滑落轨道的末端均分别朝向两个承接篮的内部。
进一步，所述基座后部的上端设有扶手。
与现有技术相比较，本发明的有益效果在于：
其一，本发明结构简单，使用的现代化技术较为常见，其技术难度较为简单，使得本发明的成本较为低廉，便于推广使用，此外，本发明在使用时只需要将草莓垄进行一定的调整即可，对草莓棚以及其他因素要求较低，不会增加草莓的种植成本，使得本发明进一步的适合推广。
其二，本发明剪刀部分采用结构设计使剪刀不需要单独的动力输入，使用简单的机械结构简化了臃肿的传动系统，使其工作更加可靠。
其三，本发明下端履带轮的设计使其能够在不平整的草莓地里也能安稳的向前运动，不会出现大起大落的现象，不会因为地面的不平整而晃动。
其四，传统技术中，工人采摘草莓平均每棚需要40-50分钟，而本发明的采摘效率达到人工的2倍，能够极快的收获草莓，同时能够减少人力成本。
其五，该机器使用蓄电池作为原动力使其在结构上更加的简单、紧凑。也使本发明在后续的维修保养更加的简单，一般情况下，种植户自己能够完成后期的保养维修。
其六，本发明中设置了多个采摘机构，通过调节每个采摘机构内的升降组件使得所有采摘组件的高度不同，从而适用于对不同高度的草莓进行采摘，使得本发明的功能更加完善。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍， 显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明与草莓垄配合使用时的立体结构示意图；
图2为本发明的立体结构示意图；
图3为图2中A处的放大图；
图4为图2中B处的放大图；
图5为图2中C处的放大图；
图6为图2中D处的放大图；
图7为本发明中采摘组件的剖视图；
图8为本发明中连杆结构示意图；
图9为本发明壳体与采摘盒配合关系俯视角度示意图。
附图标记：
基座1，采摘机构2，升降组件21，升降架211，升降块212，旋转盘213，螺纹杆214，导杆215，升降槽216，采摘组件22，壳体221，图像采集设别装置222，驱动部件223，驱动电机2231，蜗杆2233，蜗轮2234，传动轴2235，偏心轮2236，伸缩部件224，伸缩块2241，复位弹簧2242，转轮2243，伸缩连杆2244，剪刀2245，连杆2246，安装腔225，测距传感器226，采摘盒227，滑动腔228，电动伸缩杆229，输送机构3，水平输送带31，倾斜输送带32，挡板33，推料板34，履带轮4，衔接组件5，限制块51，滑落轨道52，承托平台6，承接篮7，卡带8，扶手9，卡块10。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第 三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
下面结合图1至图9所示，本发明实施例提供了一种多功能草莓采摘机，包括基座1、若干个采摘机构2和两个输送机构3，若干个采摘机构2呈等间距设置在基座1前部的上端，每个所述采摘机构2均包括升降组件21和两个采摘组件22，两个采摘组件22呈对称设置在升降组件21的两侧，每个所述采摘组件22均包括壳体221、可滑动地装配在壳体221内的采摘盒227、图像采集设别装置222、测距传感器226、驱动部件223、带有剪刀2245的伸缩部件224，所述图像采集设别装置222和测距传感器226分别安装在壳体221上，所述壳体221与升降组件21固定连接且壳体221内设有滑动腔228，且滑动腔内固定有用于驱动采摘盒直线移动进出壳体的电动伸缩杆229，采摘盒227内设有安装腔225，所述驱动部件223和伸缩部件224均安装在安装腔225内，所述驱动部件223与所述伸缩部件224相配合用以控制剪刀2245开合，两个所述输送机构3呈对称设置在基座1的两侧且两个输送机构3的前部均位于采摘组件22的下方，所述基座1的下端设有履带轮4；采用履带轮具有极强的地面适应性。
而且，本发明的基座1上还设置有蓄电池、驱动机构和控制系统，其中，蓄电池可以是铅酸电池、镍氢电池、锂子电池、燃料电池或者太阳能电池，主要用于提供电能，其中，驱动机构电连接于控制系统并在控制系统的指令下驱动履带轮4转动，该部分特征均为现有技术，因此在本发明中不做赘述。采摘机构2、输送机构3、图像采集设别装置222、测距传感器226、电动伸缩杆229分别电连接于控制系统，该控制系统主要由单片机构成，用于控制采摘机构2、输送机构3、电动伸缩杆229进行工作；其中图像采集设别装置和测距传感器为现有技术，图像采集设别装置用于采集草莓信息传送给控制系统，控制系统读取信息并将其与预设信息进行对比，判断给草莓是否成熟；测距传感器用以采集采摘机构与草莓之间距离信息并传输给控制系统，控制系统经分析处理后发送指令给电动伸缩杆控制采摘盒伸出壳体的长度，进而控制剪刀伸出的距离以便采摘。而且，草莓垄的形式为弧形，如附图1中本发明采摘机与两侧草莓垄配合的示意图所示，方便草莓被剪掉后凭借自身重力沿垄坡向下滚动落入输送机构3内。
利用本发明进行采摘时，通过采摘组件22的图像采集设别装置222采集草莓信息，控制系统读取信息并将其与预设信息进行对比，判断给草莓是否成熟；之后，对于成熟可采摘的草莓，控制系统泽控制驱动部件223工作带动伸缩部件224的剪刀2245对该草莓进行采摘，采摘后的草莓滚落到输送机构3上，通过输送机构3将草莓集中进行处理。而且，本发明通过升降组件21可调节安装在升降组件21两侧的采摘组件22的高度，使基座一侧面上的多个采摘组件以不同高度状态呈现，以对应于草莓垄不同的高度，使得本发明能够对不同高度的草莓进行采摘，提高本发明采摘能力；同时，利用测距传感器226方便对草莓垄某高度层的草莓与采摘组件之间的距离提前进行测定，然后利用电动伸缩杆229驱动采摘盒227伸出壳体221一定长度，以配合剪刀对草莓完成采摘作业。
所述升降组件21包括升降架211、升降块212、旋转盘213、螺纹杆214和两个导杆215，所述升降架211呈竖直设置在基座1的上端，所述升降架211的中部设有升降槽216，两个导杆215均呈竖直设置在升降槽216内，每个导杆215的上下两端分别与升降架211和基座1固定连接，所述升降块212套设在两个导杆215上且升降块212与两个导杆215滑动配合；导杆215的设置是用于限制升降块212的移动方向，使得移动块在升降的过程中其水平状态不会发生改变，所述螺纹杆214呈竖直设置在升降槽216内，螺纹杆214的上端贯穿升降架211且螺纹杆214与升降架211的连接处转动连接，所述螺纹杆214的下端与基座1转动连接，所述升降块212的中部设有与螺纹杆214螺纹配合的螺纹孔，所述旋转盘213固定安装在螺纹杆214的上端；通过转动旋转盘213带动螺纹杆214转动，由于升降块212通过螺纹孔与螺纹杆214的配合，使得升降块212会沿着螺纹杆214的轴线上下移动，从而带动两侧的采摘组件22进行上下移动，进而调节采摘组件22的高度，以对应于草莓垄不同高度层的草莓进行采摘。将草莓垄划分为若干个高度层，利用升降组件的调节功能，可使草莓垄每个高度层至少对应一个采摘组件，如此能够提高采摘效率，也能有效防止某高度层的草莓被遗漏。
每个所述驱动部件223均包括驱动电机2231、驱动轴、蜗杆2233、蜗轮2234、传动轴2235和偏心轮2236，所述驱动电机2231设置在安装 腔225内，所述驱动轴的一端与驱动电机2231的输出端固定连接，所述驱动轴的另一端与采摘盒227转动连接，所述蜗杆2233套设在驱动轴上，所述传动轴2235的两端均与采摘盒227转动连接，所述蜗轮2234和偏心轮2236均套设在传动轴2235上，所述蜗轮2234与蜗杆2233啮合；通过驱动电机2231工作带动驱动轴转动，驱动轴带动蜗杆2233转动，蜗杆2233带动蜗轮2234转动，蜗轮2234带动传动轴2235转动，从而使得传动轴2235带动偏心轮2236转动，偏心轮2236在转动过程中会不断的将伸缩部件224向外顶出，从而带动伸缩组件工作；由于驱动电机2231的速度比较快，采用蜗轮2234、蜗杆2233配合的方式降速和增扭。
所述伸缩部件224包括伸缩块2241、复位弹簧2242、转轮2243、伸缩连杆2244和剪刀2245，所述伸缩块2241安装在安装腔225内且伸缩块2241的一端延伸至采摘盒227的外部，所述伸缩块2241与采摘盒227滑动配合，所述转轮2243安装在伸缩块2241的后部且转轮2243与偏心轮2236相配合，转轮2243的作用是利用转动代替滑动摩擦，避免伸缩块2241与偏心轮2236之间损耗，延长采摘组件22的使用寿命，所述伸缩块2241的中部设有伸缩腔，所述伸缩连杆2244安装在伸缩腔内且伸缩连杆2244的前端与伸缩块2241转动连接，所述剪刀2245安装在伸缩连杆2244的前端，所述伸缩连杆2244的后端设有一端与其转动连接的连杆2246，其中，伸缩连杆2244的结构如附图7所示，该结构为现有技术，在此不再赘述，所述连杆2246的另一端与采摘盒227铰接，所述复位弹簧2242的两端分别与伸缩块2241和采摘盒227固定连接；当偏心轮2236转动将伸缩块2241向外顶出时，伸缩块2241拉动伸缩连杆2244的一端向外伸出，同时，连杆2246牵拉着伸缩连杆2244的另一端，从而使得伸缩连杆2244在伸长的同时会带动剪刀2245闭合，当伸缩块2241移动至最远距离时，剪刀2245闭合能够将草莓上的藤蔓剪断，使得草莓沿着垄坡向下滚落到输送机构3上，当完成一次剪断动作后，偏心轮2236继续旋转，通过复位弹簧2242的弹力将伸缩块2241拉回到采摘盒227内部的原位，以便下次剪断动作的进行。
每个所述输送机构3均包括水平输送带31和倾斜输送带32，所述水平输送带31设置在基座1的旁侧且水平输送带31的两侧均设置呈倾斜设 置的挡板33，所述倾斜输送带32的一端位于水平输送带31端部的下方，所述倾斜输送带32的另一端倾斜向上设置，所述倾斜输送带32上设有若干个呈等间距设置的推料板34；剪断后的草莓沿着垄坡向下滚落到水平输送带31上，通过水平输送带31向后输送，再经过倾斜输送带32将草莓向后部上方输送，推料板34的设置是为了方便草莓沿倾斜输送带32向上运输，其中，水平输送带31和倾斜输送带32的转速保持一致，避免草莓在运输中受损。
所述倾斜输送带32的末端设有衔接组件5，所述衔接组件5包括限制块51和滑落轨道52，所述限制块51安装在倾斜输送带32的下端，所述滑落轨道52的一端与倾斜输送带32铰接，所述滑落轨道52的下端与限制块51相配合；草莓从倾斜输送带32的上端沿着滑落轨道52向下滚落，进行集中处理，其中，限制块51的设置是用于保持滑落轨道52呈倾斜状态。
所述车体的后部设有承托平台6，所述承托平台6的上端边缘处设置有若干个卡块10，所述承托平台6上设置有两个承接篮7，每个所述承接篮7的侧壁上均设有两个U型的卡带8，所述卡带8与卡块10相配合，两个输送机构3末端的滑落轨道52的末端均分别朝向两个承接篮7的内部；将承接篮7放置在承托平台6上时，通过卡带8与卡块10的设置能够引导承接篮7在前后横向移动且阻止承接篮7沿纵向移动；滑落轨道52一端与倾斜输送带32的铰接，使得能够向上转动滑落轨道52，并配合可前后横向移动的承接篮7，以方便装草莓。
所述基座1后部的上端设有扶手9；扶手9的设置是用于控制本发明的前进方向，由于本发明的设备整体较小，因此便于进行方向控制。
本发明的工作原理：先在承托平台6上放置两个承接篮7，卡带8与卡块10的插接，然后，使用者通过扶手9控制本发明的前进方向，在前进过程中，通过采摘组件22的图像采集设别装置222采集草莓信息，控制系统读取信息并将其与预设信息进行对比，判断给草莓是否成熟；之后，对于成熟可采摘的草莓，控制系统泽控制采摘机构2和输送机构3工作带动伸缩部件224的剪刀2245对该草莓的藤蔓进行剪断采摘草莓，然后草莓沿着垄坡向下滚落到水平输送带31上，通过水平输送带31向后输送， 再经过倾斜输送带32将草莓向后部上方输送，草莓从倾斜输送带32的上端沿着滑落轨道52向下滚落到承接篮7内，等承接篮7装满即可从承托平台6上搬走更换空的承接篮7再继续采摘草莓。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种多功能草莓采摘机，其特征在于：包括基座(1)、若干个采摘机构(2)和两个输送机构(3)，若干个采摘机构(2)呈等间距设置在基座(1)前部的上端，两个所述输送机构(3)呈对称设置在基座(1)的两侧且两个输送机构(3)的前部均位于采摘机构(2)中的采摘组件(22)的下方。
  2. 根据权利要求1所述的一种多功能草莓采摘机，其特征在于：所述升降组件(21)包括升降架(211)、升降块(212)、旋转盘(213)、螺纹杆(214)和两个导杆(215)，所述升降架(211)呈竖直设置在基座(1)的上端，所述升降架(211)的中部设有升降槽(216)，两个导杆(215)均呈竖直设置在升降槽(216)内，每个导杆(215)的上下两端分别与升降架(211)和基座(1)固定连接，所述升降块(212)套设在两个导杆(215)上且升降块(212)与两个导杆(215)滑动配合，所述螺纹杆(214)呈竖直设置在升降槽(216)内，螺纹杆(214)的上端贯穿升降架(211)且螺纹杆(214)与升降架(211)的连接处转动连接，所述螺纹杆(214)的下端与基座(1)转动连接，所述升降块(212)的中部设有与螺纹杆(214)螺纹配合的螺纹孔，所述旋转盘(213)固定安装在螺纹杆(214)的上端。
  3. 根据权利要求2所述的一种多功能草莓采摘机，其特征在于：每个所述驱动部件(223)均包括驱动电机(2231)、驱动轴、蜗杆(2233)、蜗轮(2234)、传动轴(2235)和偏心轮(2236)，所述驱动电机(2231)设置在安装腔(225)内，所述驱动轴的一端与驱动电机(2231)的输出端固定连接，所述驱动轴的另一端与采摘盒(227)转动连接，所述蜗杆(2233)套设在驱动轴上，所述传动轴(2235)的两端均与采摘盒(227)转动连接，所述蜗轮(2234)和偏心轮(2236)均套设在传动轴(2235)上，所述蜗轮(2234)与蜗杆(2233)啮合。
  4. 根据权利要求3所述的一种多功能草莓采摘机，其特征在于：所述伸缩部件(224)包括伸缩块(2241)、复位弹簧(2242)、转轮(2243)、伸缩连杆(2244)和剪刀(2245)，所述伸缩块(2241)安装在安装腔(225)内且伸缩块(2241)的一端延伸至采摘盒(227)的外部，所述伸缩块(2241)与采摘盒(227)滑动配合，所述转轮(2243)安装在伸缩块(2241)的后部且转轮(2243)与偏心轮(2236)相配合，所述伸缩块(2241)的中部设有伸缩腔，所述伸缩连杆(2244)安装在伸缩腔内且伸缩连杆(2244)的前端与伸缩块(2241)转动连接， 所述剪刀(2245)安装在伸缩连杆(2244)的前端，所述伸缩连杆(2244)的后端设有一端与其转动连接的连杆(2246)，所述连杆(2246)的另一端与采摘盒(227)铰接，所述复位弹簧(2242)的两端分别与伸缩块(2241)和采摘盒(227)固定连接。
  5. 根据权利要求1所述的一种多功能草莓采摘机，其特征在于：每个所述输送机构(3)均包括水平输送带(31)和倾斜输送带(32)，所述水平输送带(31)设置在基座(1)的旁侧且水平输送带(31)的两侧均设置呈倾斜设置的挡板(33)，所述倾斜输送带(32)的一端位于水平输送带(31)端部的下方，所述倾斜输送带(32)的另一顿倾斜向上设置，所述倾斜输送带(32)上设有若干个呈等间距设置的推料板(34)。
  6. 根据权利要求5所述的一种多功能草莓采摘机，其特征在于：所述倾斜输送带(32)的末端设有衔接组件(5)，所述衔接组件(5)包括限制块(51)和滑落轨道(52)，所述限制块(51)安装在倾斜输送带(32)的下端，所述滑落轨道(52)的一端与倾斜输送带(32)铰接，所述滑落轨道(52)的下端与限制块(51)相配合。
  7. 根据权利要求6所述的一种多功能草莓采摘机，其特征在于：所述车体的后部设有承托平台(6)，所述承托平台(6)的上端边缘处设置有若干个卡块(10)，所述承托平台(6)上设置有两个承接篮(7)，每个所述承接篮(7)的侧壁上均设有两个U型的卡带(8)，所述卡带(8)与卡块(10)相配合，两个输送机构(3)末端的滑落轨道(52)的末端均分别朝向两个承接篮(7)的内部。
  8. 根据权利要求1所述的一种多功能草莓采摘机，其特征在于：所述基座(1)后部的上端设有扶手(9)。
  9. 根据权利要求1所述的一种多功能草莓采摘机，其特征在于：每个所述采摘机构(2)均包括升降组件(21)和两个采摘组件(22)，两个采摘组件(22)呈对称设置在升降组件(21)的两侧，每个所述采摘组件(22)均包括壳体(221)、可滑动地装配在壳体(221)内的采摘盒(227)、图像采集设别装置(222)、测距传感器(226)、驱动部件(223)、带有剪刀(2245)的伸缩部件(224)，所述图像采集设别装置(222)和测距传感器(226)安装在壳体(221)上，所述壳体(221)与升降组件(21)固定连接且壳体(221)内设有滑动腔(228)，且滑 动腔(228)内固定有用于驱动采摘盒(227)直线移动进出壳体(221)的电动伸缩杆(229)，采摘盒(227)内设有安装腔(225)，所述驱动部件(223)和伸缩部件(224)均安装在安装腔(225)内，所述驱动部件(223)与所述伸缩部件(224)相配合用以控制剪刀(2245)开合。
  10. 根据权利要求1所述的一种多功能草莓采摘机，其特征在于：所述基座(1)的下端设有履带轮(4)。
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