WO2022222337A1

WO2022222337A1 - Harvesting device for potted strawberries

Info

Publication number: WO2022222337A1
Application number: PCT/CN2021/114875
Authority: WO
Inventors: 武冲; 姜莉莉
Original assignee: 山东省果树研究所
Priority date: 2021-04-21
Filing date: 2021-08-27
Publication date: 2022-10-27
Also published as: CN112956333A; CN112956333B

Abstract

A harvesting device for potted strawberries. A strawberry pot entering a supporting bottom plate (2) is received by a holding hoop (5); the strawberry pot is moved to a strawberry picking device by means of the cooperation of a moving plate (12) with a conveying track; stems of strawberries are cut off by using a cutting knife (28), the strawberries fall into an annular structure (21) under their own weight, and the strawberries are transferred to other positions by means of a rotating disc (18); fallen strawberries are received by using a flexible protective net; clamping rods (25) are driven by using a third driving device so as to form a closed end of the flexible protective net to bear the strawberries; when the strawberries are required to be transferred from the rotating disc (18), the clamping rods (25) can rotate in an opposite direction by a large angle, such that a lower end of the flexible protective net is opened; and the clamping rods (25) are completely away from the strawberries, such that the strawberries can enter other transportation apparatuses from the flexible protective net, and the interference of the clamping rods (25) on the transportation of the strawberries is avoided. Also involved is an automatic strawberry picking method.

Description

Potted Strawberry Harvesting Device

technical field

The invention belongs to the technical field of fruit picking machinery, in particular to a potted strawberry harvesting device.

Background technique

One of the ways of strawberry planting is potted planting. The advantages of potted planting are: potted strawberries are easy to manage, and compared with field strawberry planting, each strawberry consumes less resources. Some people regard potted strawberries as home ornamental, Edible plants, but large-scale potted strawberries in agriculture can change the growth environment of strawberries to avoid the impact of cold currents and other air currents on the growth of strawberries, and to avoid the impact of strawberry planting in all-weather greenhouses on laborers, except for some potted strawberries for household purchases , Farmhouse picking supply, the remaining strawberries need to be picked for market demand, and then gain strawberry planting profits.

At present, it is difficult to harvest strawberries. Strawberries in a pot have multiple fruits, and the maturity of the fruits is different. In addition, in the process of picking strawberries, compared with apples and other fruits, the appearance of strawberries is easier The damaged strawberries rot very quickly, and the wholesale sales price is relatively low, and it is also difficult to pick strawberries manually, which requires a lot of labor, and it is difficult to meet the assembly line picking and harvesting.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems, the present application proposes a potted strawberry harvesting device.

The first purpose of the present application is to use the holding hoop to catch the strawberry pot that enters the support base plate, use the moving plate to cooperate with the conveying track, move the strawberry pot to the strawberry picking device, and use the cutting knife to cut off the stem of the strawberry, The strawberries fall into the ring structure under their own weight, and the strawberries are transferred to other positions by the rotating disc, thereby completing the harvest of potted strawberries.

The second purpose of the present application is to use the potted strawberry harvesting device to complete the harvesting of the potted strawberries, to avoid human participation in the most complicated strawberry harvesting process, and to realize the automation of the potted strawberry harvesting.

In order to achieve the above-mentioned first purpose, the application adopts the following technical solutions:

The potted strawberry harvesting device includes a strawberry pot conveying device and a strawberry picking device matched with the strawberry pot conveying device. The strawberry pot conveying device includes a support plate, the lower end of the support plate is provided with a moving plate, the moving plate is movably arranged on the conveying track, and the support plate A fixing plate is provided, at least two first connecting rods are hingedly arranged on the fixing plate, the first driving device is connected to the first connecting rod and then drives the first connecting rod to rotate, and the first connecting rod is provided with a holding hoop, the holding hoop The number is at least two, and the two holding hoops form a holding ring, the holding ring is used to limit the strawberry pot, the strawberry picking device includes a rotating disk, and the second driving device is connected to the rotating disk to drive the rotating disk to rotate, A second connecting rod is arranged on the outer periphery of the rotating disk, and an annular structure is disposed at one end of the second connecting rod away from the rotating disk. A flexible protective net is sleeved on the annular structure, and a third connecting rod is disposed on the second connecting rod. A clamp rod is hingedly arranged on the third connecting rod. The clamp rod is located at the lower end of the annular structure and the clamp rod is located at the outer periphery of the flexible protection net. The third drive device connects the clamp rod and drives the clamp rod to rotate. The upper end of the rotary disc is provided with a cutter device, which is composed of The holding ring fully hugs the strawberry pot and moves it to the strawberry picking device. The cutting knife cuts off the strawberry stems exposed in the strawberry pot, and makes the soft flexible protective net to undertake, and the clip rod under the flexible protective net removes it. It is closed to prevent the strawberries from falling out of the flexible protective net. With the rotation of the rotating disc, the strawberries in the flexible protective net are moved to other positions. For example, the flexible protective net is a nylon mesh.

Further, the side of the support plate close to the strawberry picking device is hingedly connected with the moving plate, the side of the support plate away from the strawberry picking device is provided with a push device, the output shaft of the push device is hingedly connected to the support plate, and the lower end of the push device is hingedly connected to the bracket. , the support plate is inclined by the pushing device, it is difficult to cut the strawberry normally, and the strawberry is easy to stick to the strawberry pot. Therefore, the present application uses the pushing device at the moving plate to turn the strawberry pot over a certain angle, and skillfully utilizes the self-weight of the strawberry. The strawberry is completely exposed to the strawberry pot, thereby achieving a better picking effect. At the same time, the interference and contact between the annular structure and the strawberry pot are avoided, and it is very effective for strawberry picking and harvesting of various sizes.

Further, the support plate includes a side support plate and a support bottom plate, the fixing plate is fixed on the side support plate, there are at least two fixing plates, the first connecting rod is arranged between the two fixing plates, and one first connecting rod is arranged on the There is a first gear, and another first connecting rod is provided with a second gear that meshes with the first gear. The first driving device drives the two hoops to move synchronously to transfer the strawberries from the conveyor belt to the support bottom plate. When the pot is placed, it is difficult to achieve precise position. Therefore, the present application adopts the holding hoop that moves at the same time, so that the strawberry pot that moves to any side can be transferred to the middle by the holding hoop and held tightly by the holding hoop. The next step is to prepare for the flipping of the strawberry pot.

Further, there is a cavity in the strawberry bowl, a baffle is arranged in the cavity of the strawberry bowl, the baffle is located at the upper end of the strawberry bowl cavity, the baffle is in contact with the inner circumference of the strawberry bowl, and a through groove is opened in the middle of the baffle to avoid strawberries. The soil in the pot is exposed from the edge of the strawberry pot.

Further, the part where the second connecting rod is matched with the rotating disk is a screw, the rotating disk is provided with a through hole, the screw is penetrated in the through hole, and nuts are provided on both sides of the rotating disk, and the nuts are screwed and connected with the screw. , the nut abuts on the rotating disk, so that the position of the second connecting rod is adjustable, so that in the installation stage, the ring structure can better align the position of the strawberry, and the second connecting rod is along the central axis of the rotating disk. Evenly distributed, so that one rotating disc can pick strawberries corresponding to multiple strawberry pots.

Further, the upper end of the third connecting rod is provided with a cylinder, the cylinder is sleeved on the second connecting rod, the cylinder and the third connecting rod are in interference fit, or the cylinder is provided with a first matching hole penetrating the cylinder. , the second connecting rod is provided with a second matching hole, the first matching hole is aligned with the second matching hole, pins or bolts are inserted into the first matching hole and the second matching hole, and the third connecting rod is an integral part and then The integrity of the third driving device and the rotating disk is split, and the device on the third connecting rod can be replaced quickly when the device needs to be replaced.

Further, the third connecting rod is hingedly provided with a rotating rod, the rotating rod is connected with the clamping rod, the output shaft of the third driving device is provided with a clamping rod, the output shaft of the third driving device is mounted with a pinion, and the rotating rod is mounted with a pinion. The pinion on the output shaft of the third driving device is engaged with the pinion, and the third driving device drives the opening and closing of the clamping rod, and the rotating rod is simultaneously rotated by the third driving device, especially when transferring the strawberries in the flexible protective net to the On other transport equipment, the rotating rod can be rotated substantially in the opposite direction, so that the strawberries falling on the transport equipment do not interfere with the rotating rod, thereby realizing the transfer of strawberries from the strawberry picking device to other transport equipment.

Further, a protective cover is arranged on the outer periphery of the clamping rod. When the two clamping rods are close to each other, the protective covers on the two clamping rods are abutted together, and then the flexible protective net is clamped, and the protective cover is used to protect the strawberries, thereby avoiding strawberries. The weight of the strawberry causes damage to the appearance of the strawberry.

Further, the cutter device includes a cutter, the main body of the cutter device is arranged on the support frame or the conveying track, and the cutter is connected to the output shaft of the fourth driving device;

The fourth drive device is a rotary drive device or a push drive device, and the fourth drive device drives the cutter to rotate or translate.

In order to achieve the above-mentioned second purpose, the application adopts the following technical solutions:

The strawberry automatic picking method adopts the above-mentioned potted strawberry harvesting device. The present application uses a conveyor belt to transport potted strawberries to the strawberry pot conveying device, and a sensor for detecting the position of the strawberry pot is provided at the end of the conveyor belt. When the strawberry pot reaches the end of the conveyor belt, The controller receives the position signal of the strawberry pot on the conveyor belt, and the controller controls the moving plate to move to the matching position of the conveyor belt. At the same time, the controller controls the first driving device and then the first driving device controls the clamping hoop to separate. The controller controls the holding hoops to approach each other and hold the strawberry pot tightly, and at the same time controls the moving plate to move in the direction of the strawberry picking device. In the present application, the sensor on the conveying track is used to detect that the strawberry moving plate reaches the position of the strawberry picking device, and the controller drives the The pushing device tilts the strawberry pot to expose the strawberry to the strawberry pot. At the same time, the controller rotates the ring structure to the lower part of the cutting knife. The cutting knife device cuts off the stem of the strawberry, the strawberry falls into the flexible protective net, and the flexible protective net is pulled by the strawberry. Then the compressive stress signal of the pressure sensor on the annular structure is triggered, and the controller receives the compressive stress signal and controls the second driving device to rotate, so that the next annular structure rotates below the cutting knife.

Compared with the prior art, the beneficial effects of the present application are:

1. In this application, the strawberry pot that enters the support base plate is caught by the holding hoop, the moving plate is used to cooperate with the conveying track, the strawberry pot is moved to the strawberry picking device, and the stem of the strawberry is cut off with a cutter, and the strawberry is under its own weight. Drop into the ring structure and the strawberries are transferred to other positions by the rotating disc.

2. The present application uses a flexible protective net to receive the fallen strawberries, includes the strawberries, and uses a third driving device to drive the clamping rod, and then forms the flexible protective net into a closed end to carry the strawberries. When the strawberries need to be transferred from the rotating disc , the clamping rod can be rotated in the opposite direction by a large angle, so that the lower end of the flexible protective net is opened, and at the same time, the clamping rod is completely away from the strawberries, so that the strawberries can enter other transportation equipment from the flexible protective net, and at the same time avoid the interference of the clamping rod on the transport of strawberries.

3. The strawberry pot can be clamped by two holding hoops that rotate at the same time. Even if the strawberry pot is inclined to any one of the holding hoop, the strawberry pot can be clamped in the middle of the holding hoop, and the strawberry pot can be tilted by the pushing device. At a certain angle, the strawberries are kept away from the strawberry pot, which is convenient for the cutter to carry out the next step of harvesting, and also avoids the collision between the ring structure and the strawberry pot.

4. The application adopts fully automatic strawberry picking, which solves the picking work of most of the remaining potted strawberries, avoids the damage to the skin of the strawberries, and also avoids the strawberry picking work of human beings as labor, and the human can be engaged in the management of strawberry picking machinery , transportation of strawberry pots and re-harvest of unharvested strawberries in strawberry pots.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the strawberry pot conveying device.

FIG. 2 is a schematic structural diagram of the front view of FIG. 1 .

FIG. 3 is a schematic structural diagram of the top view of FIG. 1 .

FIG. 4 is a schematic structural diagram of a side view of FIG. 1 .

Figure 5 is a schematic structural diagram of the baffle plate on the strawberry pot.

FIG. 6 is a schematic diagram of the overall structure of the strawberry conveying device.

FIG. 7 is a schematic structural diagram of the top view of FIG. 6 .

FIG. 8 is a schematic structural diagram of the front view of FIG. 6 .

FIG. 9 is a schematic view of the structure of the protective cover on the clamp rod.

FIG. 10 is a schematic structural diagram of the upper cylinder of the third connecting rod.

Among them: 1. L-shaped support plate, 2. Support bottom plate, 3. Side support plate, 4. Clamping ring, 5. Clamping hoop, 6. First connecting rod, 7. Fixing plate, 8. First driving device , 9, the first gear, 10, the second gear, 11, the hinge seat, 12, the moving plate, 13, the first fixed seat, 14, the fixed rod, 15, the strawberry pot, 16, the groove, 17, the baffle, 18. Rotary disc, 19, Second drive device, 20, Second connecting rod, 21, Ring structure, 22, Third connecting rod, 23, Connecting plate, 24, Cylinder, 25, Clamp rod, 26, Protection Sleeve, 27, main body of cutter device, 28, cutter, 29, second fixed seat, 30, matching rod, 31, pushing device.

Detailed ways

The present application will be further described below with reference to the accompanying drawings and embodiments.

Example 1

The present application relates to a strawberry harvesting device, especially for the picking and harvesting of potted strawberries, which is different from picking robots such as apples and kiwi fruit.

The present application includes a strawberry pot conveying device, a strawberry picking device and a strawberry conveying device, especially the strawberry pot conveying device and the strawberry picking device are the core of the present application, and both are the core equipment of the strawberry picking process.

The strawberry pot conveying device includes an L-shaped support plate 1, wherein the L-shaped support plate 1 includes a support base plate 2 and a side support plate 3, and the side support plate 3 is fixed on one side of the upper end of the support base plate 2. A holding ring 4 is arranged above. In this embodiment, the holding ring 4 includes two arc-shaped holding rings 5, and a connecting rod is installed on the outer side of the holding ring 5, so that the connecting rod and one end of the holding ring 5 are completely connected. To be fixed together, the fixing method of the connecting rod and the clamping hoop 5 must be very firm, and the two are fixed together by means of bolts or welding. The link together is called the first link 6 .

The other end of the first connecting rod 6, that is, the end of the first connecting rod 6 away from the clamping hoop 5, is installed with a hinge shaft. Since the clamping hoop 5 is two pieces, the first connecting rod 6 is also at least two, or, A holding ring 5 can connect two first connecting rods 6 .

A fixing plate 7 is fixedly installed on the side support plate 3, and the fixing plate 7 is fixedly installed with the side support plate 3 by bolts. The fixing plate 7 includes two pieces arranged in parallel, and the two fixing plates 7 are both parallel to the support bottom plate 2, A bearing is fixedly installed on the fixing plate 7, and the hinge shaft of the first connecting rod 6 is hingedly connected to the bearing, that is, the outer circumference of the hinge shaft and the inner circumference of the bearing are in an interference fit, which enables the hinge shaft to wrap around the bearing. The central axis rotates, so that the first connecting rod 6 rotates around the central axis of the bearing, a hinge shaft on the first connecting rod 6 protrudes from the fixing plate 7, and the first driving device 8 is fixedly installed on the fixing plate 7, as a kind of In the embodiment, the first driving device 8 is a driving motor or a rotary cylinder, the connecting plate 23 and the fixing plate 7 on the first driving device 8 are fixedly connected together by bolts, and the output shaft of the first driving device 8 and the protruding fixing plate are connected together. The hinge shafts of 7 are fixedly connected together by means such as couplings, so that the first driving device 8 drives the first connecting rod 6 to rotate.

A first connecting rod 6 is provided with a first gear 9, the other first connecting rod 6 is provided with a second gear 10, the first gear 9 and the second gear 10 are meshed, thereby making a first connecting rod When the 6 is driven to rotate by the first driving device 8 , the two first connecting rods 6 can move toward each other, thereby realizing the separation or approaching of the two first connecting rods 6 .

As a specific embodiment, the first gear 9 and the second gear 10 are located between the two fixed plates 7 .

A hinge seat 11 is installed on the lower end of the L-shaped support plate 1, that is, the lower end of the support base plate 2 of the L-shaped support plate 1. The hinge seat 11 is provided with a hinge hole, and the lower end of the hinge seat 11 is provided with a moving plate 12. The moving plate 12 The upper end of the moving plate 12, that is, the side of the moving plate 12 facing the L-shaped support plate 1, is provided with a first fixing seat 13, and the fixing rod 14 is fixedly installed on the first fixing seat 13, and the fixing rod 14 is inserted into the hinge hole of the hinge seat 11. In this way, the L-shaped fixing plate 7 can be rotated around the fixing rod 14. As a specific embodiment, the hinge seat 11 is installed at the front end of the support base plate 2, that is, the side of the support base plate 2 away from the side support plate 3 is the support base plate. At the front end of the moving plate 12, a support foot can also be installed on the upper end of the moving plate 12, and the L-shaped support plate 1 is jointly supported by the support foot and the fixed rod 14.

The moving plate 12 is fixed on the conveyor track. For example, the moving plate 12 is fixed on the conveyor belt, and the conveyor belt has several rollers. The moving plate 12 is located on the rollers of the conveyor belt, and the moving plate 12 is driven by the conveyor belt, thereby realizing the L-shaped support. The displacement of the plate 1, and the potted strawberries are placed on the L-shaped support plate 1. When the L-shaped support plate 1 moves along the conveyor belt, it drives the potted strawberries to move along the conveyor belt. The pushing device of the cylinder type cooperates, and the moving plate 12 is pushed to the corresponding position by the pushing device, so that the strawberry pot conveying device cooperates with the strawberry picking device.

As the strawberry pot matched with the strawberry pot conveying device of the present application, the strawberry pot is in the shape of a truncated cone, a truncated truncated cavity is opened in the strawberry pot, and soil is placed in the cavity, and strawberries are grown in the soil, and the height of the soil cannot be too high. On the upper end face of the strawberry pot, preferably, a baffle 17 is installed in the cavity of the strawberry pot. It is used when strawberries are planted, the side of the baffle 17 is abutted with the strawberry pot, and the soil is pressed down by the baffle 17 .

The strawberry picking device of the present application is used in conjunction with the strawberry pot conveying device, the strawberry pot conveying device transports the strawberry pot to the strawberry picking device, and the L-shaped support plate 1 is rotated along the fixing rod 14 by the second driving device 19, and then The strawberry pot is inclined at a certain angle, the strawberries will protrude out of the strawberry pot under the action of gravity, and the soil in the strawberry pot will not fall out of the strawberry pot due to the blocking of the strawberry pot and the blocking of the baffle 17 in the strawberry pot. The strawberry picking device picks the strawberries in the strawberry pot. The strawberry picking device includes a rotating disk 18. The lower end of the rotating disk 18 is fixedly installed with a second driving device 19. The output shaft of the second driving device 19 is fixedly connected to the rotating disk 18. For example , a rod is installed at the lower end of the rotary disk 18, the output shaft of the second driving device 19 is fixedly connected with the rod at the lower end of the rotary disk 18 through a coupling, and the second driving device 19 can be a rotary cylinder, a stepping motor, etc. , the rotary disk 18 is driven to rotate by the second driving device 19 .

A second connecting rod 20 is fixedly installed on the outer circumference of the rotating disk 18 , one end of the second connecting rod 20 is fixedly connected with the rotating disk 18 , and the other end of the second connecting rod 20 , that is, the second connecting rod 20 is away from the rotating disk 18 . One end is provided with a circular ring, and the size of the circular ring is larger than the size of the strawberry, so that the strawberry can enter the circular ring, and a flexible protective net is set on the circular ring, and the flexible protective net extends downward. As a preferred embodiment, the circular ring is The ring is not closed, that is, there is a gap on the ring, and the flexible protective net is sleeved on the ring along the gap, and the flexible protective net is formed into a cylindrical 24 shape, forming a cylindrical 24-shaped flexible protective net with a diameter and a ring. As a further embodiment of the second connecting rod 20, a part of the second connecting rod 20 in this embodiment is a screw rod, and the rotating disk 18 is a circular disk with a cavity, so that the circular The edge of the disk forms a side, and is fixed in the middle of the rotating disk 18 by 1-2 connecting plates 23. The output shaft of the second driving device 19 is fixedly connected with the lower end of the connecting plate 23. For example, in this embodiment, the connection The plate 23 adopts two intersecting connecting plates 23 to cooperate with the rotating disk 18, so that both sides of the connecting plate 23 are fixed on the inner side of the disk, and a through hole is opened on the side of the disk, which will be the second screw of the screw. The connecting rod 20 is inserted into the through hole, and nuts are fixedly installed at both ends of the screw rod. One nut is located on the inner side of the side of the disc, and the other nut is located on the outer side of the side of the disc, and the side is clamped by the nut. In this way, the fixing of the ring on the disk is realized, and this structure can adjust the relative position of the ring and the disk.

The third connecting rod 22 is fixedly installed on the second connecting rod 20. As a specific embodiment, the upper end of the third connecting rod 22, that is, the end of the third connecting rod 22 close to the second connecting rod 20, is a cylinder 24. The cylinder 24 is provided with a first matching hole, and the second connecting rod 20 is provided with a second matching hole matched with the first matching hole. When the cylinder 24 is sleeved on the second connecting rod 20, the cylinder The first matching hole on the 24 is aligned with the second matching hole on the second connecting rod 20, and the bolts or pins are inserted into the first matching hole and the second matching hole, so as to ensure the second connecting rod 20 and the third connecting rod 22. fixed together.

A third driving device is installed on the third connecting rod 22. Preferably, the output shaft of the third driving device drives the rotating rod hingedly installed on the third connecting rod 22 to rotate. For example, it is installed on the output shaft of the third driving device. The pinion gear, the pinion gear that meshes with the pinion on the output shaft of the third drive device is also installed on the rotating rod, a clamping rod 25 is installed on the output shaft of the third driving device and the rotating rod, and the clamping rod 25 The protective cover 26 is installed on the upper sleeve. For example, the protective cover 26 is made of foam plastic. The third driving device drives the two clamping rods 25 to move towards each other. When the two clamping rods 25 move towards each other, the protective sleeves on the two clamping rods 25 26 are abutted together, thereby clamping the flexible protective net.

A cutter device is placed on the upper end of the rotary disk 18, and the cutter device includes a cutter. As an embodiment, the cutter is arranged on a support frame, and a fourth drive device drives the cutter to move, thereby cutting the strawberry fruit. The plant neck is cut off. Since the flexible protective net is clamped by the two clamp bars 25, the strawberries fall into the flexible protective net, and with the rotation of the rotating disc 18, the strawberries in the flexible protective net are moved to different positions. In the embodiment, the strawberries in the flexible protective net are transferred to the strawberry conveying device, for example, a flexible conveying belt is installed at one end away from the strawberry pot conveying device. When the ring is driven to rotate, the strawberries located in the flexible protective net are transferred to the top of the flexible conveyor belt, and the third driving device drives the two clamping rods 25 to separate from each other and abut from another direction, thereby making the strawberries gradually move from the flexible protective net to the top of the flexible conveyor belt. The protective net falls out and falls onto the flexible conveyor belt, and the strawberries are driven by the flexible conveyor belt to the next process for packaging.

As one of the specific implementations, a through slot is set in the middle of the connecting plate 23 on the rotary disk 18, and a bearing is installed in the through slot, and the main body 27 of the cutter device is fixed in the bearing of the through slot, and the cutter device The other end of the main body 27 is fixed with the outer end surface of the conveying track, the moving plate 12 moves along the conveying track, and the static conveying track fixes the cutter device, thereby saving the installation space of a support frame.

The ring in the present application is an annular structure 21 . In addition, the annular structure 21 may also have other shapes, such as an oval shape and the like.

Example 2

A strain gauge is installed on the annular structure 21. When the strawberry enters the flexible protective net, the flexible protective net will generate a compressive stress signal to the strain gauge. The controller receives the compressive stress signal and controls the second driving device 19 to rotate. Sensors are installed on the main body of the conveyor track and the flexible conveyor belt device to detect the position corresponding to the rotating disc 18. For example, the sensor is an infrared sensor, and a sensing piece for use with the infrared sensor is fixedly installed under the rotating disc 18. Each sensing piece Corresponding to an annular structure 21, taking the sensor installed on the main body of the flexible conveyor belt device as an example, when the rotating disk 18 rotates to the flexible conveyor belt, the sensor senses the position signal of the rotating disk 18, and then the controller receives the signal and sends it to the flexible conveyor belt. The controller controls the third drive device to drive the two clamping rods 25 to separate from each other. When the sensor is installed on the conveying track, the rotating disc 18 moves to this position, and the sensor senses the position signal of the rotating disc 18, and the controller receives the signal and sends the The controller controls the third driving device to drive the two clamping rods 25 to approach each other to clamp the flexible protection net.

A sensor, such as a position sensor such as a limit switch, is installed on the side of the conveying track facing the moving plate 12 to detect the position of the moving plate 12. After the moving plate 12 reaches the position of the sensor, the strawberry pot starts to turn over.

The present embodiment describes a flip structure. A second fixing base 29 is installed on the end of the support base plate 2 away from the hinge base 11 , and a matching rod 30 is installed on the second fixing base 29 . The output shaft of the pushing device 31 is hingedly connected to the matching rod 30 . At the same time, the lower end of the pushing device 31 is connected with the bracket, and the lower end of the pushing device 31 and the bracket need to be hingedly connected. The pushing device 31 is preferably an electric cylinder, and the advancement of the electric cylinder is very easy to control. After the entire equipment is installed, the pushing device 31 needs to be The electric cylinder is the easiest to realize the adjustment of the propulsion. When the moving plate 12 is in place, the propulsion device 31 is restarted.

As a further embodiment, the potted strawberries are placed on a common conveyor belt, and the potted strawberries are transported to the strawberry pot conveying device by the common conveyor belt, and a sensor, such as a photoelectric sensor, is installed at the end of the common conveyor belt, so that the controller controls the common conveyor belt. The first driving device 8 on the strawberry pot conveying device at the 1st place separates the holding hoop 5, and after a period of time, the controller will approach the holding hoop 5 again.

Claims

A potted strawberry harvesting device is characterized in that it includes a strawberry pot conveying device and a strawberry picking device matched with the strawberry pot conveying device;

The strawberry pot conveying device comprises a support plate, the lower end of the support plate is provided with a moving plate (12), the moving plate (12) is movably arranged on the conveying track, the support plate is provided with a fixed plate (7), and the fixed plate (7) is provided with a fixed plate (7). At least two first connecting rods (6) are hingedly arranged, the first driving device (8) is connected with the first connecting rod (6) and then drives the first connecting rod (6) to rotate, and the first connecting rod (6) is provided with a Clamping hoops (5), the number of said hooping hoops (5) is at least two, and the two hooping hoops (5) are surrounded by a gripping ring (4), and the strawberry pot;

The strawberry picking device comprises a rotating disk (18), a second driving device (19) is connected to the rotating disk (18) to drive the rotating disk (18) to rotate, and a second connecting rod (20) is arranged on the outer periphery of the rotating disk (18), The end of the second connecting rod (20) away from the rotating disk (18) is provided with a ring-shaped structure (21), the ring-shaped structure (21) is covered with a flexible protection net, and the second connecting rod (20) is provided with a flexible protective net. A third connecting rod (22) is provided, the third connecting rod (22) is hingedly provided with a clamping rod (25), the clamping rod (25) is located at the lower end of the annular structure (21) and the clamping rod (25) is located in the flexible protection net On the outer circumference, the third driving device is connected to the clamping rod (25) and then drives the clamping rod (25) to rotate;

The upper end of the rotary disk (18) is provided with a cutter device.
The device for harvesting potted strawberries according to claim 1, characterized in that the support plate is hingedly connected with the moving plate (12) on the side close to the strawberry picking device, and a push device (31) is provided on the side of the support plate away from the strawberry picking device. , the output shaft of the pushing device (31) is hingedly connected with the support plate, the lower end of the pushing device (31) is hingedly connected with the bracket, and the support plate is inclined by the pushing device (31).
The device for harvesting potted strawberries according to claim 1, wherein the support plate comprises a side support plate (3) and a support bottom plate (2), and the fixing plate (7) is fixed on the side support plate (3), There are at least two said fixing plates (7), the first connecting rod (6) is arranged between the two fixing plates (7), one first connecting rod (6) is provided with a first gear (9), and the other is provided with a first gear (9). A first connecting rod (6) is provided with a second gear (10) that meshes with the first gear (9).
The device for harvesting potted strawberries according to claim 1, wherein the strawberry pot is provided with a cavity, a baffle (17) is arranged in the cavity of the strawberry pot, and the baffle (17) is located at the upper end of the strawberry pot cavity , the baffle plate (17) is in contact with the inner circumference of the strawberry pot, and a through groove is set in the middle of the baffle plate (17).
The device for harvesting potted strawberries according to claim 1, characterized in that, the part of the second connecting rod (20) that cooperates with the rotating disk (18) is a screw, and the rotating disk (18) is provided with a through hole, The screw rod is penetrated in the through hole, and nuts are provided on both sides of the rotating disk (18), the nuts are screwed and connected with the screw rod, and the nuts are abutted on the rotating disk (18);

The second connecting rods (20) are evenly distributed along the central axis of the rotating disk (18).
The potted strawberry harvesting device according to claim 1, characterized in that, a cylinder is provided on the upper end of the third connecting rod (22), and the cylinder is sleeved on the second connecting rod (20);

The cylinder is in interference fit with the third connecting rod (22), or the cylinder is provided with a first matching hole penetrating the cylinder, the second connecting rod (20) is provided with a second matching hole, and the first matching hole is formed on the second connecting rod (20). A matching hole is aligned with the second matching hole, and pins or bolts are inserted into the first matching hole and the second matching hole.
The device for harvesting potted strawberries according to claim 1, characterized in that, a rotating rod is hingedly arranged on the third connecting rod (22), the rotating rod is connected with the clamping rod (25), and the output shaft of the third driving device is provided with a rotating rod. There is a clamp rod (25), a pinion gear is installed on the output shaft of the third drive device, a pinion gear meshed with the pinion on the output shaft of the third drive device is installed on the rotating rod, and the clamp rod (25) is driven by the third drive device ) opening and closing.
The device for harvesting potted strawberries according to claim 1, wherein a protective cover (26) is provided on the outer periphery of the clamping rod (25), and when the two clamping rods (25) are close to each other, the two clamping rods (25) The protective sleeves (26) on the ) are abutted together, thereby clamping the flexible protective net.
The device for harvesting potted strawberries according to claim 1, characterized in that, the cutter device comprises a cutter, the main body of the cutter device is arranged on a support frame or a conveying track, and the cutter is connected to the fourth drive device. Output shaft;

The fourth drive device is a rotary drive device or a push drive device, and the fourth drive device drives the cutter to rotate or translate.
A strawberry automatic picking method is characterized in that, adopting the potted strawberry harvesting device according to any one of claims 1-9,

Use the conveyor belt to convey the potted strawberries to the strawberry pot conveying device. A sensor for detecting the position of the strawberry pot is provided at the end of the conveyor belt. When the strawberry pot reaches the end of the conveyor belt, the controller receives the position signal of the strawberry pot on the conveyor belt and controls the position of the strawberry pot. The controller controls the moving plate (12) to move to the matching position of the conveyor belt, and at the same time the controller controls the first driving device (8) and then the first driving device (8) controls the clamping hoop (5) to separate, according to the interval time, the controller Control the holding hoops (5) to approach each other and hold the strawberry pot tightly, and control the moving plate (12) to move in the direction of the strawberry picking device at the same time;

After the sensor on the conveying track detects that the strawberry moving plate (12) reaches the position of the strawberry picking device, the controller drives the pushing device (31) to tilt the strawberry pot so that the strawberries are exposed to the strawberry pot, and the controller rotates the ring structure (21) at the same time. To the bottom of the cutter, the cutter device cuts off the stem of the strawberry, the strawberry falls into the flexible protection net, and the strawberry pulls the flexible protection net to trigger the compressive stress signal of the pressure sensor on the ring structure (21), and the controller receives the compressive stress signal. The compressive stress signal controls the rotation of the second driving device (19), so that the next annular structure (21) is rotated to the lower part of the cutting knife.