Seed potato dicing and tidying device

Abstract

The invention belongs to the technical field of agricultural machinery, and relates to a seed potato dicing and arranging device which comprises a rack, a Z-shaped belt conveyor and an image recognition device. A first parallel mechanical arm and a second parallel mechanical arm are installed on the machine frame, blades are installed at the bottom ends of the first parallel mechanical arm and the second parallel mechanical arm, and the first parallel mechanical arm and the second parallel mechanical arm are used for cutting potatoes on the lower horizontal section conveying face of the Z-shaped belt conveyor and potato blocks on the upper horizontal section conveying face of the Z-shaped belt conveyor respectively. The image recognition device is used for recognizing potato bud eyes conveyed by the lower horizontal section conveying face and the upper horizontal section conveying face and controlling the first parallel manipulator and the second parallel manipulator to act. According to the device, the image recognition difficulty can be reduced by adopting plane projection to recognize the bud eyes, the equipment cost can be saved, the parallel manipulator is adopted to move in the plane at a high speed for cutting, rapid cutting is realized, cutting is performed again after secondary posture placement based on the potato block cutting surface, and the cutting efficiency and accuracy can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and relates to a seed potato cutting and sorting device. Background Art

[0002] Seed potato dicing refers to cutting potatoes with buds into blocks for planting. Traditional seed potato dicing mainly involves manually cutting each bud on the potato, and finally obtaining multiple irregular seed potatoes for planting. This method has the problems of high labor intensity and low efficiency of seed potato dicing.

[0003] In addition, with the development of automation technology, the use of cutting machines for cutting seed potatoes has been increasingly used. Among them, there are blind-cutting cutting machines that use indiscriminate cutting. They mainly use longitudinally and transversely arranged cutters to cut potatoes, and the square cutting of seed potatoes is achieved by the rotation of the cutters. The potato cutting is achieved by relying on experience and the optimization of multiple parameters such as rotation speed. There is a problem of low accuracy in cutting potato buds. In addition, there are also cutting machines that use three-dimensional image scanning to distribute cutting. Although their cutting accuracy is high, their image recognition and cutting are difficult, and the development of bud allocation algorithms is difficult and the development cost is high. Summary of the invention

[0004] The purpose of the present invention is to provide a seed potato cutting and sorting device, which can identify buds based on plane projection, use a parallel manipulator to move at high speed in the plane for cutting, achieve fast cutting, and cut again after the cut surface of the potato tuber is placed in a secondary posture, thereby improving cutting efficiency and accuracy, and helping to save equipment development costs, so as to solve the problems raised in the above-mentioned background technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] A seed potato cutting and sorting device comprises a frame, a Z-type belt conveyor installed on the frame, and an image recognition device, wherein a first parallel manipulator and a second parallel manipulator are installed on the frame, and blades are installed at the bottom ends of the first parallel manipulator and the second parallel manipulator, and the first parallel manipulator is located above the lower horizontal section of the Z-type belt conveyor for cutting potatoes on the conveying surface of the lower horizontal section, and the inclined section of the Z-type belt conveyor is used to convey the potato pieces cut from the lower horizontal section to the upper horizontal section, and when the potato pieces are conveyed on the conveying surface of the inclined section, the potato pieces can only be conveyed when the cut surface of the potato pieces is attached to the conveying surface of the inclined section, and if the non-cut surface of the potato pieces is attached to the conveying surface of the inclined section, the potato pieces can only be conveyed when the cut surface of the potato pieces is attached to the conveying surface of the inclined section. When the potato tubers contact the inclined conveying surface, they are likely to roll, and the potato tubers can only be conveyed to the upper horizontal conveying surface when the cut surface of the potato tubers contacts the inclined conveying surface. The second parallel manipulator is located above the upper horizontal section of the Z-type belt conveyor and is used to cut the potato tubers on the upper horizontal conveying surface. The image recognition device is used to identify the potato eyes conveyed by the lower horizontal conveying surface and the upper horizontal conveying surface, and control the first parallel manipulator to cut the potato tubers once and the second parallel manipulator to cut the potato tubers twice respectively; the potatoes are cut into potato tubers on the lower horizontal conveying surface of the Z-type belt conveyor, and the potato tubers have a flat cutting surface. The lower horizontal conveying surface conveys the potato tubers. When the potatoes are on the inclined conveying surface, the inclined conveying surface can be used to convey the potatoes only when the cut surface of the potatoes touches the inclined conveying surface. In this way, the inclined section can be used to adjust and place the potato tubers, so that when the potato tubers enter the upper horizontal conveying surface, their cut surface is attached to the upper horizontal conveying surface, and the second parallel manipulator can be used to cut the potato tubers again. When the potatoes are conveyed on the lower horizontal conveying surface of the Z-type belt conveyor, the image recognition device recognizes the buds on the potatoes based on plane projection, and controls the first parallel manipulator to move at high speed in the plane to cut the potatoes on the lower horizontal conveying surface. The cut potato tubers have cut surfaces, and the potato tubers are conveyed When the potatoes are sent to the upper horizontal conveying surface of the Z-belt conveyor, the cut surface of the potato tubers is in contact with the upper horizontal conveying surface. The image recognition device recognizes the buds on the potato tubers based on plane projection, and controls the second parallel manipulator to move at high speed in the plane to cut the potatoes on the upper horizontal conveying surface. The buds are recognized based on plane projection on the lower horizontal conveying surface and the upper horizontal conveying surface. The existing image recognition device is utilized, the difficulty of image recognition is reduced, and it is beneficial to save equipment costs. The parallel manipulator is used to move at high speed in the plane for cutting, so as to achieve fast cutting. The potato tubers are cut again after the cut surface is placed at a secondary posture, which can improve the cutting efficiency and accuracy.

[0007] Further definition, the cutting and sorting device also includes a vibration unloading mechanism, which includes a hopper, an exciter, a support plate and a spring; a plurality of springs are fixed to the bottom surface of the support plate, and the bottom end of the spring is fixed to the frame, the hopper and the exciter are both installed on the support plate, and the discharge port of the hopper is located above the lower horizontal section conveying surface of the Z-type belt conveyor; the exciter vibrates at 10 to 20 Hz to drive the spring to vibrate, so that the potatoes in the hopper are unloaded, realizing the vibration conveying function of the potatoes, which can prevent the potatoes from bridging and stably convey the potatoes in the hopper to the lower horizontal section conveying surface.

[0008] According to further definition, the first parallel manipulator and the second parallel manipulator have the same structure; the first parallel manipulator includes a base, a telescopic transmission joint, a top seat, a rotary drive motor, a swing motor, a rocker arm, a connecting rod and a cylinder; the two ends of the telescopic transmission joint are rotatably connected with the base and the top seat respectively, the telescopic transmission is energy-saving and retractable, the rotary drive motor is installed at the top of the top seat, the output end of the rotary drive motor is transmission-connected with the top of the telescopic transmission joint, the rotary drive motor can drive the telescopic transmission joint to rotate, the cylinder is installed at the bottom end of the telescopic transmission joint, the telescopic transmission drives the cylinder to rotate, the blade is installed at the output end of the cylinder, and the cylinder is movable The plug rod can be extended and retracted to drive the blade to cut potatoes. Three swing motors are installed on the top seat. A swing rod is connected to the output end of each swing motor. The swing motor can drive the swing rod to rotate. Two connecting rods are arranged between each swing rod and the base, and the two ends of the connecting rod are rotatably connected to the swing rod and the base respectively. The swing motor drives the swing rod to swing at a certain angle, and the traction connecting rod drives the base to move in a plane (or spherical space). Considering the cutting of seed potatoes, it is necessary to adjust the angle of the blade. A rotary drive motor is arranged to drive the cylinder to rotate by driving the telescopic transmission joint to rotate, and the potato cutting is completed by the extension and retraction of the cylinder piston rod.

[0009] In a further definition, the blades include but are not limited to "slotted" blades and "Y-shaped" blades.

[0010] According to a further limitation, the inclination angle of the inclined section of the Z-belt conveyor is adjustable, and the inclination angle of the conveying surface of the inclined section can be adjusted according to the requirements of the inclination angle and the posture adjustment requirements of the potato pieces.

[0011] According to further definition, the Z-type belt conveyor includes a conveyor belt and an active roller, a first driven roller, an adjusting roller, an adjusting bearing seat, a second driven roller, a tensioning roller and a pressure wheel for tensioning the conveyor belt and making the conveyor belt Z-shaped; the active roller, the first driven roller and the second driven roller are all fixedly mounted on the frame, and pressure wheels are installed above the front and rear ends of the first driven roller to ensure that the conveying surface of the lower horizontal section of the conveyor belt is horizontal, so that the conveyor belt is Z-shaped, and both ends of the adjusting roller are rotatably connected with the adjusting bearing seat, and the adjusting bearing seat can be horizontally movably installed on the frame, and the position of the adjusting bearing seat can be adjusted by lateral movement to drive the adjusting roller to move lateral to adjust the inclination angle of the conveyor belt between the first driven roller and the adjusting roller. After adjusting the angle of the inclination section of the conveyor belt, the tensioning roller can be adjusted to ensure that the entire conveyor belt is tensioned; a conveying drive motor for driving the active roller to rotate is installed on the frame, and starting the conveying drive motor can drive the conveyor belt to rotate to convey potatoes.

[0012] According to further definition, the Z-type belt conveyor includes a conveyor belt, a lower horizontal section bracket, an inclined section bracket, an upper horizontal section bracket, a roller and a pressure wheel; the two ends of the inclined section bracket are rotatably connected to the lower horizontal section bracket and the upper horizontal section bracket respectively, and the lower horizontal section bracket, the inclined section bracket and the upper horizontal section bracket are equipped with rollers and pressure wheels for tensioning the conveyor belt and making the conveyor belt Z-shaped; a pitch angle adjustment mechanism for driving the inclined section bracket to rotate is installed on the frame, so as to adjust the inclination angle of the inclined section of the conveyor belt, and a horizontal adjustment telescopic mechanism for adjusting the height of the upper horizontal section bracket is installed on the inclined section bracket. When the inclined section bracket is driven to rotate, the height of the upper horizontal section bracket is adjusted simultaneously by using the horizontal adjustment telescopic mechanism to ensure the level of the conveying surface of the upper horizontal section of the conveyor belt, and a conveying drive motor for driving one of the rollers to rotate is installed on the lower horizontal section bracket. Starting the conveying drive motor can drive the conveyor belt to rotate to convey potatoes.

[0013] Further definition, a soft-bristle roller brush is installed on the frame, and the soft-bristle roller brush is located above the inclined conveying surface of the Z-belt conveyor. There is a certain gap between it and the inclined conveying surface to ensure the passage of potato pieces. By setting the soft-bristle roller brush, it can be ensured that the potato pieces on the inclined conveying surface are laid flat. The position of the soft-bristle roller brush can be moved and adjusted in the left and right directions and the up and down directions to adjust the distance between it and the inclined conveying surface, thereby adjusting the laying thickness of the potato pieces.

[0014] Further defined, the inclination angle of the inclined section conveying surface of the Z-belt conveyor is 15 to 90 degrees, and generally 30 to 40 degrees can meet the requirements of inclined section conveying and potato nuggets posture adjustment.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) Since the eyes of seed potatoes are distributed in an irregular elliptical spatial geometry on potatoes, it is difficult and inefficient to identify them by three-dimensional scanning. If only the eyes of single-sided projection are identified, it is difficult to ensure the accuracy of cutting. The device uses plane projection to identify the eyes to improve efficiency. By first selecting one side for eye identification and cutting, and then performing secondary posture placement and sorting, secondary or even multiple cutting is performed, which is more efficient and has a relatively low identification difficulty.

[0017] (2) The existing cutting machine mainly cuts by a multi-joint manipulator or a rectangular coordinate manipulator, which is efficient but not as efficient as a plane manipulator. It can be proposed to use a parallel multi-joint manipulator to achieve high-speed movement in the plane, and to cooperate with the torsion and cylinder to adjust the swing direction and cutting depth of the blade;

[0018] (3) After the potatoes are cut once, there is a flat cutting surface. The posture of the potato pieces can be adjusted by an inclined conveyor belt with an adjustable inclination angle and a roller brush. Since the potato pieces are prone to rolling if they are non-planar and come into contact with the inclined conveyor surface, they can roll freely in the inclined state until the cutting plane of the potato pieces comes into contact with the inclined conveyor belt to achieve transportation;

[0019] (4) The device uses mature components. Since it only identifies the buds on the projection surface, the spatial difficulty is lower, the development of the same algorithm is simpler and more accurate, the quality requirements for cut seed potatoes are lower, the adaptability is higher, and the development cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a front view of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the vibration feeding mechanism in the present invention;

[0024] Figure 4 It is a schematic diagram of the three-dimensional structure of the parallel manipulator in the present invention;

[0025] Figure 5 It is a schematic diagram of one structure of the conveyor belt in the present invention;

[0026] Figure 6It is another structural schematic diagram of the conveyor belt in the present invention.

[0027] Names of components in the figure: 1. Frame; 2. Blade; 3. Z-belt conveyor; 3.1. Conveyor belt; 3.2. Conveyor drive motor; 3.3. Active roller; 3.4. First driven roller; 3.5. Adjusting roller; 3.6. Adjusting bearing seat; 3.7. Second driven roller; 3.8. Tensioning roller; 3.9. Lower horizontal section bracket; 3.10. Inclined section bracket; 3.11. Pitch angle adjustment mechanism; 3.12. Horizontal adjustment telescopic mechanism; 3.13. Upper horizontal section bracket; 4. Vibration unloading mechanism; 4.1. Hopper; 4.2. Vibrator; 4.2.1. Drive motor; 4.2.2. Elastic coupling; 4.2.3. Eccentric block; 4.2.4. Drive shaft; 4.3. Support plate; 4.4. Spring; 4.5. Discharge port height adjustment plate; 5. First parallel manipulator; 5.1. Base; 5.2. Telescopic transmission joint; 5.3. Top seat; 5.4. Rotary drive motor; 5.5. Swing motor; 5.6. Rocker arm; 5.7. Connecting rod; 5.8. Cylinder; 6. Soft-bristled roller brush; 7. Second parallel manipulator. DETAILED DESCRIPTION

[0028] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0029] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "left", "right", etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] Example 1

[0031] A seed potato cutting and arranging device, such as Figure 1 and Figure 2 As shown, it is mainly composed of a frame 1, a Z-belt conveyor 3, a vibrating unloading mechanism 4, a first parallel manipulator 5, a second parallel manipulator 7, a blade 2 and an image recognition device;

[0032] The Z-type belt conveyor 3 is installed on the frame 1. The Z-type belt conveyor 3 includes a lower horizontal section, an inclined section and an upper horizontal section. The vibrating unloading mechanism 4 is used to unload the potatoes to be cut onto the conveying surface of the lower horizontal section of the Z-type belt conveyor 3.

[0033] The first parallel manipulator 5 and the second parallel manipulator 7 are both mounted on the frame 1. The bottom ends of the first parallel manipulator 5 and the second parallel manipulator 7 are both mounted with blades 2. The first parallel manipulator 5 is located above the lower horizontal section of the Z-type belt conveyor 3 and is used to cut potatoes on the conveying surface of the lower horizontal section. The inclined section of the Z-type belt conveyor 3 is used to convey the potato pieces cut from the lower horizontal section to the upper horizontal section. When the potato pieces are conveyed on the conveying surface of the inclined section, they can only be conveyed when the cut surface of the potato pieces is attached to the conveying surface of the inclined section. If the non-cut surface of the potato pieces is When contacting the inclined conveying surface, the potato tubers are likely to roll, and the potato tubers can only be conveyed to the upper horizontal conveying surface after the cut surface of the potato tubers contacts the inclined conveying surface. The second parallel manipulator 7 is located above the upper horizontal section of the Z-type belt conveyor 3 and is used to cut the potato tubers on the upper horizontal conveying surface. The image recognition device is used to identify the potato eyes conveyed by the lower horizontal conveying surface of the Z-type belt conveyor 3 and the potato tuber eyes conveyed by the upper horizontal conveying surface, and respectively control the first parallel manipulator 5 to cut the potatoes once and the second parallel manipulator 7 to cut the potatoes twice.

[0034] In this embodiment, Figures 1 to 3 As shown, the vibration unloading mechanism 4 includes a hopper 4.1, a vibrator 4.2, a support plate 4.3 and a spring 4.4; a plurality of springs 4.4 are fixed to the bottom surface of the support plate 4.3, and the bottom ends of the springs 4.4 are fixed to the frame 1, the hopper 4.1 and the vibrator 4.2 are both installed on the support plate 4.3, and the discharge port of the hopper 4.1 is located above the lower horizontal section conveying surface of the Z-type belt conveyor 3; the vibrator 4.2 vibrates at 10 to 20 Hz to drive the spring 4.4 to vibrate, so that the potatoes in the hopper 4.1 are unloaded, and the vibrating conveying function of the potatoes is realized, which can prevent the potatoes from bridging and stably convey the potatoes in the hopper 4.1 to the lower horizontal section conveying surface;

[0035] Specifically, the vibrator 4.2 is mainly composed of a driving motor 4.2.1, an elastic coupling 4.2.2, an eccentric block 4.2.3 and a driving shaft 4.2.4. The top of the driving shaft 4.2.4 is connected to the power output end of the driving motor 4.2.1 through the elastic coupling 4.2.2 to drive the driving shaft 4.2.4 to rotate. The eccentric block 4.2.3 is installed on the driving shaft 4.2.4, and the eccentric block 4.2.3 is installed vertically to provide a larger vibration force; the bottom end of the hopper 4.1 is provided with a discharge port height adjustment plate 4.5, and the size of the discharge port of the hopper 4.1 can be adjusted by adjusting the height of the discharge port height adjustment plate 4.5;

[0036] The components and structures of the hopper 4.1 and the vibrator 4.2 are all existing technologies, and can be purchased and installed as finished products or customized in different sizes, so they will not be described in detail here.

[0037] In this embodiment, Figure 1 , Figure 2 and Figure 4 As shown, the first parallel manipulator 5 and the second parallel manipulator 7 have the same structure; the first parallel manipulator 5 includes a base 5.1, a telescopic transmission section 5.2, a top seat 5.3, a rotary drive motor 5.4, a swing motor 5.5, a swing rod 5.6, a connecting rod 5.7 and a cylinder 5.8; the two ends of the telescopic transmission section 5.2 are rotatably connected with the base 5.1 and the top seat 5.3 respectively, the telescopic transmission section 5.2 can be telescopic, the rotary drive motor 5.4 is installed at the top of the top seat 5.3, the output end of the rotary drive motor 5.4 is transmission-connected with the top of the telescopic transmission section 5.2, the rotary drive motor 5.4 can drive the telescopic transmission section 5.2 to rotate, the cylinder 5.8 is installed at the bottom end of the telescopic transmission section 5.2, the telescopic transmission section 5.2 can drive the cylinder 5.8 to rotate, the blade 2 is installed at the output end of the cylinder 5.8, the cylinder The piston rod of 5.8 can be extended and retracted to drive the blade 2 to cut potatoes. Three swing motors 5.5 are installed on the top seat 5.3. The output end of each swing motor 5.5 is connected to a swing rod 5.6. The swing motor 5.5 can drive the swing rod 5.6 to rotate. Two connecting rods 5.7 are arranged between each swing rod 5.6 and the base 5.1, and the two ends of the connecting rod 5.7 are rotatably connected to the swing rod 5.6 and the base 5.1 respectively; the swing motor 5.5 drives the swing rod 5.6 to swing at a certain angle, and the traction connecting rod 5.7 drives the base 5.1 to move in a plane (or spherical space). Considering the cutting of seed potatoes, it is necessary to adjust the angle of the blade 2, and a rotary drive motor 5.4 is arranged to drive the telescopic transmission section 5.2 to rotate to drive the cylinder 5.8 to rotate, and the potato cutting is completed by the extension and retraction of the piston rod of the cylinder 5.8.

[0038] In this embodiment, Figure 4 As shown, the blade 2 is a "straight-shaped" blade. In addition, the blade 2 can also be a "Y-shaped" blade or a blade of other shapes and structures.

[0039] In this embodiment, Figure 1 , Figure 2 and Figure 5 As shown, the inclination angle of the inclined section of the Z-type belt conveyor 3 is adjustable, and the inclination angle of the conveying surface of the inclined section can be adjusted according to the requirements of the inclination angle and the posture adjustment requirements of the potato pieces;

[0040] Specifically, the Z-type belt conveyor 3 includes a conveyor belt 3.1 and an active roller 3.3, a first driven roller 3.4, an adjusting roller 3.5, an adjusting bearing seat 3.6, a second driven roller 3.7, a tensioning roller 3.8 and a pressure wheel for tensioning the conveyor belt 3.1 and making the conveyor belt 3.1 Z-shaped; the active roller 3.3, the first driven roller 3.4 and the second driven roller 3.7 are all fixedly mounted on the frame 1, and pressure wheels are installed above the front and rear ends of the first driven roller 3.4 to ensure that the conveying surface of the lower horizontal section of the conveyor belt 3.1 is horizontal, so that the conveyor belt 3.1 is Z-shaped, and the two ends of the adjusting roller 3.5 are fixedly mounted on the frame 1. Both ends are rotatably connected with an adjusting bearing seat 3.6, and the adjusting bearing seat 3.6 can be installed on the frame 1 in a horizontally movable manner. By laterally moving the position of the adjusting bearing seat 3.6, the adjusting roller 3.5 can be driven to move laterally to adjust the inclination angle of the conveyor belt 3.1 between the first driven roller 3.4 and the adjusting roller 3.5. After adjusting the angle of the inclined section of the conveyor belt 3.1, the tensioning roller 3.8 can be adjusted to ensure that the entire conveyor belt 3.1 is tensioned. A conveying drive motor 3.2 for driving the active roller 3.3 to rotate is installed on the frame 1. Starting the conveying drive motor 3.2 can drive the conveyor belt 3.1 to rotate to transport potatoes.

[0041] In this embodiment, the image recognition device includes a camera, an image analyzer and a cutting controller. Two cameras are provided, one of which is provided on the frame 1 and located on the left side of the first parallel manipulator 5, and the other is provided on the frame 1 and located on the left side of the second parallel manipulator 7. Both cameras are electrically connected to the image analyzer. The two cameras are respectively used to collect image information of target potatoes on the lower horizontal section conveying surface and the upper horizontal section conveying surface of the Z-type belt conveyor 3 and transmit the information to the image analyzer. The image analyzer is connected to the cutting controller to analyze the image information and generate eye information. The cutting controller generates a cutting control signal based on the eye information to control the first parallel manipulator 5 and the second parallel manipulator 7 to cut potatoes respectively. The above-mentioned image recognition device is a prior art, which has been disclosed in detail in a potato seed potato cutting device in CN110915355B after the authorization announcement, and will not be repeated here.

[0042] In this embodiment, Figure 1 and Figure 2 As shown, a soft-bristle roller brush 6 is installed on the frame 1, and the soft-bristle roller brush 6 is located above the inclined conveying surface of the Z-belt conveyor 3. There is a certain gap between the soft-bristle roller brush 6 and the inclined conveying surface to ensure the passage of potato pieces. By setting the soft-bristle roller brush 6, it is ensured that the potato pieces on the inclined conveying surface are laid flat. The position of the soft-bristle roller brush 6 can be moved and adjusted in the left-right direction and the up-down direction to adjust the distance between it and the inclined conveying surface, so as to adjust the laying thickness of the potato pieces.

[0043] In this embodiment, the inclination angle of the inclined section conveying surface of the Z-belt conveyor 3 is adjustable within the range of 15 to 90°, preferably 30 to 40° to meet the requirements of inclined section conveying and potato nuggets posture adjustment.

[0044] The working principle of this embodiment is:

[0045] When using the cutting and sorting device to cut potato seed potatoes, the potatoes to be cut are loaded into the hopper 4.1, and the vibrator 4.2 is started to vibrate and discharge the potatoes, so that the potatoes in the hopper 4.1 can be stably conveyed to the lower horizontal conveying surface of the Z-belt conveyor 3. The lower horizontal conveying surface of the Z-belt conveyor 3 conveys potatoes. One of the cameras of the image recognition device is located above the lower horizontal conveying surface and recognizes the buds through plane projection. The image recognition device controls the first parallel manipulator 5 to move, cut the potatoes on the lower horizontal conveying surface, so as to obtain potato pieces with cutting surfaces. The lower horizontal conveying surface continues to convey the potato pieces. At the lower part of the inclined conveying surface, if the flat cutting surface of the potato piece contacts the inclined conveying surface, the inclined conveying surface can convey the potato piece. If the non-cutting surface of the potato piece contacts the inclined conveying surface, the potato piece cannot reach the inclined conveying surface and a Roll until the cut surface of the potato piece contacts the inclined conveying surface after adjustment, and the cut surface of the potato piece fits the inclined conveying surface and is conveyed to the upper horizontal conveying surface, which continues to convey the potato piece. There is no eye on the cut surface of the potato piece, and its top surface is the curved surface of the potato. Another camera of the image recognition device is located above the upper horizontal conveying surface and recognizes the eye on the potato piece through plane projection. The image recognition device controls the movement of the second parallel manipulator 7 to cut the potato piece on the upper horizontal conveying surface. Eyes are recognized based on plane projection on the lower horizontal conveying surface and the upper horizontal conveying surface, and the existing image recognition device is used to reduce the difficulty of image recognition, which is beneficial to saving equipment cost. The parallel manipulator is used to move at high speed in the plane for cutting to achieve fast cutting. The potato piece is cut again after the cut surface is placed at a secondary posture, which can improve cutting efficiency and accuracy.

[0046] Example 2

[0047] A seed potato cutting and arranging device, which is different from the embodiment 1 in that: Figure 6As shown, the Z-type belt conveyor 3 includes a conveyor belt 3.1, a lower horizontal section bracket 3.9, an inclined section bracket 3.10, an upper horizontal section bracket 3.13, a roller and a pressure wheel; the two ends of the inclined section bracket 3.10 are rotatably connected to the lower horizontal section bracket 3.9 and the upper horizontal section bracket 3.13 respectively, and the lower horizontal section bracket 3.9, the inclined section bracket 3.10 and the upper horizontal section bracket 3.13 are equipped with rollers and pressure wheels for tensioning the conveyor belt 3.1 and making the conveyor belt 3.1 Z-shaped; the frame 1 is equipped with a pitch angle adjustment mechanism 3.11 for driving the inclined section bracket 3.10 to rotate , so that the inclination angle of the inclined section of the conveyor belt 3.1 can be adjusted, and a horizontal adjustment telescopic mechanism 3.12 for adjusting the height of the upper horizontal section bracket 3.13 is installed on the inclined section bracket 3.10. When the inclined section bracket 3.10 is driven to rotate, the height of the upper horizontal section bracket 3.13 is adjusted by the horizontal adjustment telescopic mechanism 3.12 to ensure that the conveying surface of the upper horizontal section of the conveyor belt 3.1 is level. A conveying drive motor 3.2 for driving one of the rollers to rotate is installed on the lower horizontal section bracket 3.9. Starting the conveying drive motor 3.2 can drive the conveyor belt 3.1 to rotate to transport potatoes;

[0048] Specifically, the pitch angle adjustment mechanism 3.11 is mainly composed of a lead screw, a motor, a lead screw nut, a connecting rod and a U-shaped bracket. The lead screw nut is installed on the lead screw. The motor is used to drive the lead screw to rotate to control the lead screw nut to move along its axial direction on the lead screw. The two ends of the U-shaped bracket are hinged to the middle section of the tilting section bracket 3.10. The two ends of the connecting rod are respectively hinged to the lead screw nut and the U-shaped bracket. When the lead screw nut moves, it can drive the connecting rod, thereby driving the tilting section bracket 3.10 to rotate;

[0049] Specifically, the horizontal adjustment telescopic mechanism 3.12 is an electric push rod, the body of which is hinged on the tilting section bracket 3.10, and the end of its piston rod is hinged on the upper horizontal section bracket 3.13. Through the extension and retraction of the piston rod of the horizontal adjustment telescopic mechanism 3.12, the upper horizontal section bracket 3.13 can be pushed up and down to adapt to the tilt angle adjustment of the tilting section bracket 3.10;

[0050] Unlike Example 1, in which the horizontal position of the adjusting bearing seat 3.6 is adjusted to thereby adjust the position of the adjusting roller 3.5, and the inclination angle of the inclined section of the conveyor belt 3.1 is adjusted in cooperation with the tensioning roller 3.8, in this embodiment, the pitch angle adjustment mechanism 3.11 and the horizontal adjustment telescopic mechanism 3.12 are used to achieve rapid adjustment of the pitch angle of the inclined section of the conveyor belt 3.1.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A seed potato cutting and arranging device, comprising a frame (1), a Z-belt conveyor (3) mounted on the frame (1), and an image recognition device, characterized in that: The frame (1) is provided with a first parallel manipulator (5) and a second parallel manipulator (7), the bottom ends of which are both provided with blades (2), the first parallel manipulator (5) being located above the lower horizontal section of the Z-type belt conveyor (3) and being used for cutting potatoes on the conveying surface of the lower horizontal section, the inclined section of the Z-type belt conveyor (3) being used for conveying potato nuggets cut from the lower horizontal section to the upper horizontal section, the second parallel manipulator (7) being located above the upper horizontal section of the Z-type belt conveyor (3) and being used for cutting potato nuggets on the conveying surface of the upper horizontal section, the image recognition device being used for recognizing potato eyes conveyed on the conveying surface of the lower horizontal section and the conveying surface of the upper horizontal section, and respectively controlling the first parallel manipulator (5) to cut potatoes once and the second parallel manipulator (7) to cut potato nuggets twice.

2. The seed potato cutting and arranging device according to claim 1, characterized in that: The block sorting device also includes a vibrating unloading mechanism (4), which includes a hopper (4.1), a vibrator (4.2), a support plate (4.3) and a spring (4.4); a plurality of springs (4.4) are fixed to the bottom surface of the support plate (4.3), and the bottom ends of the springs (4.4) are fixed to the frame (1); the hopper (4.1) and the vibrator (4.2) are both mounted on the support plate (4.3); and the discharge port of the hopper (4.1) is located above the conveying surface of the lower horizontal section of the Z-type belt conveyor (3).

3. The seed potato cutting and arranging device according to claim 1, characterized in that: The first parallel manipulator (5) and the second parallel manipulator (7) have the same structure; the first parallel manipulator (5) comprises a base (5.1), a telescopic transmission section (5.2), a top seat (5.3), a rotary drive motor (5.4), a swing motor (5.5), a swing rod (5.6), a connecting rod (5.7) and a cylinder (5.8); the two ends of the telescopic transmission section (5.2) are rotatably connected to the base (5.1) and the top seat (5.3), the rotary drive motor (5.4) is installed at the top of the top seat (5.3), and the rotary drive motor (5.4) is connected to the top seat (5.3). ) is connected to the top of the telescopic transmission section (5.2) by transmission, the cylinder (5.8) is installed at the bottom of the telescopic transmission section (5.2), the blade (2) is installed at the output end of the cylinder (5.8), three swing motors (5.5) are installed on the top seat (5.3), the output end of each swing motor (5.5) is connected to a swing rod (5.6), two connecting rods (5.7) are arranged between each swing rod (5.6) and the base (5.1), and the two ends of the connecting rod (5.7) are respectively connected to the swing rod (5.6) and the base (5.1) in rotation.

4. The seed potato cutting and arranging device according to claim 1, characterized in that: The blade (2) includes but is not limited to a "straight-shaped" blade and a "Y-shaped" blade.

5. The seed potato cutting and arranging device according to claim 1, characterized in that: The inclination angle of the inclined section of the Z-type belt conveyor (3) is adjustable.

6. The seed potato cutting and arranging device according to claim 5, characterized in that: The Z-type belt conveyor (3) comprises a conveyor belt (3.1), a driving roller (3.3) for tensioning the conveyor belt (3.1) and making the conveyor belt (3.1) Z-shaped, a first driven roller (3.4), an adjusting roller (3.5), an adjusting bearing seat (3.6), a second driven roller (3.7), a tensioning roller (3.8) and a pressure wheel; the driving roller (3.3), the first driven roller (3.4) and the second driven roller (3.7) are all fixedly mounted on a frame (1); pressure wheels are mounted above the front and rear ends of the first driven roller (3.4); both ends of the adjusting roller (3.5) are rotatably connected to the adjusting bearing seat (3.6); the adjusting bearing seat (3.6) is mounted on the frame (1) in a horizontally movable manner; and a conveying drive motor (3.2) for driving the driving roller (3.3) to rotate is mounted on the frame (1).

7. The seed potato cutting and arranging device according to claim 5, characterized in that: The Z-type belt conveyor (3) comprises a conveyor belt (3.1), a lower horizontal section bracket (3.9), an inclined section bracket (3.10), an upper horizontal section bracket (3.13), a roller and a pressure wheel; the two ends of the inclined section bracket (3.10) are rotatably connected to the lower horizontal section bracket (3.9) and the upper horizontal section bracket (3.13), respectively; the lower horizontal section bracket (3.9), the inclined section bracket (3.10) and the upper horizontal section bracket (3.13) are equipped with rollers and pressure wheels for tensioning the conveyor belt (3.1) and making the conveyor belt (3.1) in a Z shape; the frame (1) is equipped with a pitch angle adjustment mechanism (3.11) for driving the inclined section bracket (3.10) to rotate; the inclined section bracket (3.10) is equipped with a horizontal adjustment telescopic mechanism (3.12) for adjusting the height of the upper horizontal section bracket (3.13); and the lower horizontal section bracket (3.9) is equipped with a conveying drive motor (3.2) for driving one of the rollers to rotate.

8. The seed potato cutting and arranging device according to claim 6 or 7, characterized in that: A soft-bristled rolling brush (6) is installed on the frame (1), and the soft-bristled rolling brush (6) is located above the inclined section conveying surface of the Z-shaped belt conveyor (3).

9. The seed potato cutting and arranging device according to claim 6 or 7, characterized in that: The inclination angle of the conveying surface of the inclined section of the Z-type belt conveyor (3) is 15 to 90 degrees.

10. The seed potato cutting and arranging device according to claim 9, characterized in that: The inclination angle of the conveying surface of the inclined section of the Z-type belt conveyor (3) is 30 to 40 degrees.

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