Seed potato cutting and sorting device

Abstract

The present invention belongs to the technical field of agricultural machinery and relates to a seed potato cutting and sorting device, which comprises a frame, a Z-shaped belt conveyor and an image recognition device; 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. The first parallel manipulator and the second parallel manipulator are respectively used for cutting potatoes on the lower horizontal section conveying surface of the Z-shaped belt conveyor and potato pieces on the upper horizontal section conveying surface. The image recognition device is used to recognize the potato eyes conveyed on the lower horizontal section conveying surface and the upper horizontal section conveying surface, and respectively control the actions of the first parallel manipulator and the second parallel manipulator. The device can reduce the difficulty of image recognition by using planar projection to recognize potato eyes, which is beneficial to saving equipment costs. The parallel manipulator is used to move at high speed in the plane for cutting to achieve fast cutting. Based on the secondary posture placement of the cut surface of the potato pieces and then cutting again, the cutting efficiency and accuracy can be improved.

Description

Technical Field

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

[0002] Potato tuber cutting means cutting the potato with buds into pieces for planting. Traditional potato tuber cutting is mainly done manually by cutting each bud on the potato, and finally obtaining irregular pieces of potato for planting. It has the problems of high manual labor intensity and low potato tuber cutting efficiency.

[0003] In addition, with the development of automation technology, the use of cutting machines to cut potato tubers has been increasingly applied. Among them, there are blind cutting machines that use undifferentiated cutting. They mainly use longitudinally and transversely arranged cutters to cut potatoes, and realize the square cutting of potato tubers through the rotation of the cutters. They rely on the optimization of multiple parameters such as experience and rotation speed to achieve potato cutting, and 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 identify buds for distribution cutting. Although its cutting accuracy is high, its image recognition and cutting are difficult, the development difficulty of the bud distribution algorithm is large, and the development cost is relatively high. Summary of the Invention

[0004] The purpose of the present invention is to provide a potato tuber cutting and sorting device, which identifies buds based on planar projection, uses a parallel manipulator that can move at high speed in a plane for cutting to achieve fast cutting, and performs secondary cutting after the potato pieces are placed in a second posture based on the cutting surface, improving the cutting efficiency and accuracy, and being conducive to saving the equipment development cost, so as to solve the problems raised in the above background art.

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

[0006] A potato cutting and sorting device, comprising a frame, a Z-shaped belt conveyor mounted on the frame, and an image recognition device. A first parallel manipulator and a second parallel manipulator are mounted on the frame. Blades are mounted at the bottom ends of the first parallel manipulator and the second parallel manipulator. The first parallel manipulator is located above the lower horizontal section of the Z-shaped belt conveyor and is used to cut potatoes on the conveying surface of the lower horizontal section. The inclined section of the Z-shaped belt conveyor is used to convey the potato pieces cut on the lower horizontal section to the upper horizontal section. When the potato pieces are conveyed on the inclined section conveying surface, the potato pieces can be conveyed only when the cutting surface of the potato pieces is attached to the inclined section conveying surface. If the non-cutting surface of the potato pieces contacts the inclined section conveying surface, it is easy to cause the potato pieces to roll until the cutting surface of the potato pieces contacts the inclined section conveying surface before the potato pieces can be conveyed to the upper horizontal section conveying surface. The second parallel manipulator is located above the upper horizontal section of the Z-shaped belt conveyor and is used to cut the potato pieces on the upper horizontal section conveying surface. The image recognition device is used to identify the potato eyes conveyed on the lower horizontal section conveying surface and the upper horizontal section conveying surface, and respectively control the first parallel manipulator to cut the potatoes once and the second parallel manipulator to cut the potato pieces twice; the potatoes are cut into pieces on the lower horizontal section conveying surface of the Z-shaped belt conveyor, and the potato pieces have flat cutting surfaces. When the lower horizontal section conveying surface conveys the potato pieces to the inclined section conveying surface, only when the cutting surface of the potato pieces contacts the inclined section conveying surface can the inclined section conveying surface be used to convey the potato pieces. In this way, the inclined section is used to adjust and place the posture of the potato pieces, so that when the potato pieces enter the upper horizontal section conveying surface, their cutting surfaces are attached to the upper horizontal section conveying surface, and the second parallel manipulator can be used to cut the potato pieces again. When the potatoes are conveyed on the lower horizontal section conveying surface of the Z-shaped belt conveyor, the image recognition device recognizes the potato eyes on the potatoes based on planar projection and controls the first parallel manipulator to move at high speed in the plane to cut the potatoes on the lower horizontal section conveying surface. The cut potato pieces have cutting surfaces. When the potato pieces are conveyed to the upper horizontal section conveying surface of the Z-shaped belt conveyor, the cutting surfaces of the potato pieces are attached to the upper horizontal section conveying surface. The image recognition device recognizes the potato eyes on the potato pieces based on planar projection and controls the second parallel manipulator to move at high speed in the plane to cut the potato pieces on the upper horizontal section conveying surface. By recognizing the potato eyes based on planar projection on the lower horizontal section conveying surface and the upper horizontal section conveying surface, the existing image recognition device is utilized, the image recognition difficulty is reduced, which is beneficial to saving equipment costs. The parallel manipulator is used to move at high speed in the plane for cutting to achieve fast cutting. Based on the secondary posture placement of the cutting surface of the potato pieces, cutting is performed again, which can improve the cutting efficiency and accuracy.

[0007] Further limitation: The cutting and sorting device further includes a vibrating feeding mechanism, which includes a hopper, a vibrator, a support plate and springs; a plurality of springs are fixed to the bottom surface of the support plate, and the bottom ends of the springs are fixed to the frame. The hopper and the vibrator are both installed on the support plate. The discharge port of the hopper is located above the lower horizontal conveying surface of the Z-shaped belt conveyor; the vibrator vibrates at 10-20 Hz to drive the springs to vibrate, so that the potatoes in the hopper are fed, realizing the vibrating conveying function of the potatoes, preventing the potatoes from bridging, and stably conveying the potatoes in the hopper to the lower horizontal conveying surface.

[0008] Further limitation: The first parallel manipulator and the second parallel manipulator have the same structure; the first parallel manipulator includes a base, a telescopic transmission section, a top seat, a rotary drive motor, a swing motor, a swing rod, a connecting rod and a cylinder; both ends of the telescopic transmission section are rotatably connected to the base and the top seat respectively. The telescopic transmission section can be telescoped. The rotary drive motor is installed at the top end of the top seat, and the output end of the rotary drive motor is drivingly connected to the top end of the telescopic transmission section. The rotary drive motor can drive the telescopic transmission section to rotate. The cylinder is installed at the bottom end of the telescopic transmission section, and the telescopic transmission section can drive the cylinder to rotate. The blade is installed at the output end of the cylinder, and the piston rod of the cylinder can be telescoped to drive the blade to cut the potatoes. Three swing motors are installed on the top seat, and 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 both ends of the connecting rod are rotatably connected to the swing rod and the base respectively; by driving the swing rod to swing at a certain angle by the swing motor, the connecting rod is pulled to drive the base to move in a plane (or spherical space). Considering the cutting of the seed potatoes, the angle of the blade needs to be adjusted. The rotary drive motor is provided to drive the telescopic transmission section to rotate to drive the cylinder to rotate, and the piston rod of the cylinder is telescoped to complete the cutting of the potatoes.

[0009] Further limitation: The blade includes, but is not limited to, a "linear" blade and a "Y-shaped" blade.

[0010] Further limitation: The inclination angle of the inclined section of the Z-shaped belt conveyor is adjustable, and the inclination angle of the inclined section conveying surface can be adjusted according to the requirements of the inclination angle and the attitude adjustment requirements of the potato blocks.

[0011] Further limitation: The Z-shaped belt conveyor includes a conveyor belt, a driving roller, a first driven roller, an adjusting roller, an adjusting bearing block, a second driven roller, a tensioning roller and a pressing wheel for tensioning the conveyor belt and making the conveyor belt Z-shaped; the driving roller, the first driven roller and the second driven roller are all fixedly installed on the frame. Pressing wheels are installed above the front and rear ends of the first driven roller to ensure that the lower horizontal section conveying surface of the conveyor belt is horizontal, making the conveyor belt Z-shaped. Both ends of the adjusting roller are rotatably connected with adjusting bearing blocks, and the adjusting bearing blocks are installed on the frame in a horizontally movable manner. By horizontally moving the position of the adjusting bearing blocks, the adjusting roller can be driven to move horizontally to adjust the inclination angle of the conveyor belt between the first driven roller and the adjusting roller. After adjusting the angle of the inclined 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 driving roller to rotate is installed on the frame. Starting the conveying drive motor can drive the conveyor belt to rotate to convey potatoes.

[0012] Further limitation: The Z-shaped belt conveyor includes a conveyor belt, a lower horizontal section support, an inclined section support, an upper horizontal section support, rollers and pressing wheels; both ends of the inclined section support are respectively rotatably connected with the lower horizontal section support and the upper horizontal section support. Rollers and pressing wheels for tensioning the conveyor belt and making the conveyor belt Z-shaped are installed on the lower horizontal section support, the inclined section support and the upper horizontal section support; a pitching angle adjusting mechanism for driving the inclined section support to rotate is installed on the frame, so that the inclination angle of the inclined section of the conveyor belt can be adjusted. A horizontal adjusting telescopic mechanism for adjusting the height of the upper horizontal section support is installed on the inclined section support. When driving the inclined section support to rotate, the height of the upper horizontal section support is adjusted simultaneously by using the horizontal adjusting telescopic mechanism to ensure the horizontality of the upper horizontal section conveying surface of the conveyor belt. A conveying drive motor for driving one of the rollers to rotate is installed on the lower horizontal section support. Starting the conveying drive motor can drive the conveyor belt to rotate to convey potatoes.

[0013] Further limitation: A soft hair brush roller is installed on the frame. The soft hair brush roller is located above the inclined section conveying surface of the Z-shaped belt conveyor and has a certain gap with the inclined section conveying surface to ensure that potato blocks can pass through. By setting the soft hair brush roller, it can ensure that the potato blocks on the inclined section conveying surface are laid flat. The position of the soft hair brush roller can be adjusted to move in the left-right direction and the up-down direction to adjust the distance between it and the inclined section conveying surface, so as to adjust the laying thickness of the potato blocks.

[0014] Further limitation: The inclination angle of the inclined section conveying surface of the Z-shaped belt conveyor is 15 - 90°, and generally 30 - 40° can meet the conveying requirements of the inclined section and the posture adjustment requirements of the potato blocks.

[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 scan them three-dimensionally. If only the single-sided projection of the eyes is recognized, it is difficult to ensure the accuracy of cutting. This device uses planar projection to recognize the eyes to improve efficiency. By first selecting one side to recognize and cut the eyes, and then repositioning and arranging the posture for a second time, and performing a second or even multiple cuts, the efficiency is relatively high and the recognition difficulty is relatively low.

[0017] (2) The cutting machines of the prior art mainly perform cutting through multi-joint manipulators or Cartesian coordinate manipulators. Although the efficiency is relatively high, it is not as efficient as a planar manipulator. It is proposed to use a parallel multi-joint manipulator to achieve high-speed movement in a plane, cooperate with torsion and a cylinder to adjust the swinging direction and cutting depth of the blade.

[0018] (3) After the potatoes are cut once, there is a flat cutting surface. The posture adjustment of the potato blocks is realized through an inclined conveyor belt with an adjustable inclination angle and a rotary brush. Since the potato blocks are likely to roll if they are in non-planar contact with the inclined section conveyor surface, they can roll freely in an inclined state until the cutting plane of the potato blocks contacts the inclined section conveyor belt for conveying.

[0019] (4) This device uses mature components. Since only the eyes on the projection surface are recognized, the spatial difficulty is lower, the development of the same algorithm is simpler, the accuracy is higher, the quality requirements for the 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 will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

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

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

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

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

[0025] Figure 5 is one of the structural schematic diagrams of the conveyor belt in the present invention;

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

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

[0028] The embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, so they are only 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 orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 of the present invention.

[0030] Embodiment 1

[0031] A potato tuber cutting and sorting device, as Figure 1 and Figure 2 shown, mainly consists of a frame 1, a Z-shaped belt conveyor 3, a vibrating feeding mechanism 4, a first parallel manipulator 5, a second parallel manipulator 7, a blade 2 and an image recognition device;

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

[0033] The first parallel manipulator 5 and the second parallel manipulator 7 are both installed on the frame 1. Blades 2 are installed at the bottom ends of the first parallel manipulator 5 and the second parallel manipulator 7. The first parallel manipulator 5 is located above the lower horizontal section of the Z-shaped belt conveyor 3 for cutting potatoes on the conveying surface of the lower horizontal section. The inclined section of the Z-shaped belt conveyor 3 is used to convey the potato pieces cut on the lower horizontal section to the upper horizontal section. When the potato pieces are conveyed on the inclined section conveying surface, the cut surface of the potato pieces must be attached to the inclined section conveying surface for conveying. If the non-cut surface of the potato pieces contacts the inclined section conveying surface, it is easy to cause the potato pieces to roll until the cut surface of the potato pieces contacts the inclined section conveying surface, and then the potato pieces can be conveyed to the upper horizontal section conveying surface. The second parallel manipulator 7 is located above the upper horizontal section of the Z-shaped belt conveyor 3 for cutting the potato pieces on the upper horizontal section conveying surface. The image recognition device is used to identify the potato eyes conveyed on the lower horizontal section conveying surface of the Z-shaped belt conveyor 3 and the potato eyes of the potato pieces conveyed on the upper horizontal section conveying surface, and respectively control the first parallel manipulator 5 to cut the potatoes once and the second parallel manipulator 7 to cut the potato pieces twice.

[0034] In this embodiment, as Figures 1 to 3 shown, the vibrating feeding 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 on the frame 1. The hopper 4.1 and the vibrator 4.2 are both installed on the support plate 4.3. The discharge port of the hopper 4.1 is located above the lower horizontal section conveying surface of the Z-shaped belt conveyor 3. The vibrator 4.2 vibrates at 10 - 20 Hz to drive the spring 4.4 to vibrate, so that the potatoes in the hopper 4.1 are fed, realizing the vibrating conveying function of the potatoes, preventing the potatoes from bridging, and stably conveying the potatoes in the hopper 4.1 to the lower horizontal section conveying surface.

[0035] Specifically, the vibrator 4.2 mainly consists of a drive motor 4.2.1, an elastic coupling 4.2.2, an eccentric block 4.2.3 and a drive shaft 4.2.4. The top end of the drive shaft 4.2.4 is connected to the power output end of the drive motor 4.2.1 through the elastic coupling 4.2.2 to drive the drive shaft 4.2.4 to rotate. An eccentric block 4.2.3 is installed on the drive shaft 4.2.4, and the eccentric block 4.2.3 is vertically installed, which can provide a relatively large 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 above-mentioned composition structures of the hopper 4.1 and the vibrator 4.2 are all prior arts, and there are finished products for purchase and installation or customized sizes and models, which will not be elaborated here.

[0037] In this embodiment, as Figure 1 、 Figure 2 andFigure 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 respectively rotatably connected to the base 5.1 and the top seat 5.3. The telescopic transmission section 5.2 can be telescoped. The rotary drive motor 5.4 is installed at the top of the top seat 5.3, and the output end of the rotary drive motor 5.4 is in transmission connection with the top end 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, and 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, and the piston rod of the cylinder 5.8 can be telescoped to drive the blade 2 to cut potatoes. Three swing motors 5.5 are installed on the top seat 5.3, and a swing rod 5.6 is connected to the output end of each swing motor 5.5. 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 respectively rotatably connected to the swing rod 5.6 and the base 5.1. By driving the swing rod 5.6 to swing at a certain angle by the swing motor 5.5, the connecting rod 5.7 is pulled to drive 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. The rotary drive motor 5.4 is set to drive the telescopic transmission section 5.2 to rotate to drive the cylinder 5.8 to rotate, and the telescopic movement of the piston rod of the cylinder 5.8 is used to complete the cutting of potatoes.

[0038] In this embodiment, as Figure 4 shown, the blade 2 is a "linear" blade. In addition, the blade 2 can also be a "Y-shaped" blade or a blade with other shaped structures.

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

[0040] Specifically, the Z-shaped belt conveyor 3 includes a conveyor belt 3.1, a driving roller 3.3, a first driven roller 3.4, an adjusting roller 3.5, an adjusting bearing block 3.6, a second driven roller 3.7, a tensioning roller 3.8 and a pressing wheel, which are used to tension the conveyor belt 3.1 and make the conveyor belt 3.1 in a Z shape. The driving roller 3.3, the first driven roller 3.4 and the second driven roller 3.7 are all fixedly installed on the frame 1. Pressing wheels are installed above the front and rear ends of the first driven roller 3.4 to ensure that the lower horizontal conveying surface of the conveyor belt 3.1 is horizontal, so that the conveyor belt 3.1 is in a Z shape. Both ends of the adjusting roller 3.5 are rotatably connected to the adjusting bearing block 3.6, and the adjusting bearing block 3.6 is movably installed on the frame 1 horizontally. By horizontally moving the position of the adjusting bearing block 3.6, the adjusting roller 3.5 can be driven to move horizontally 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 driving 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 convey potatoes.

[0041] In this embodiment, the image recognition device includes a camera, an image analyzer and a cutting controller. There are two cameras. One is installed on the frame 1 and on the left side of the first parallel manipulator 5, and the other is installed on the frame 1 and 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 the image information of the target potatoes on the lower horizontal conveying surface and the upper horizontal conveying surface of the Z-shaped belt conveyor 3 and transmit the information to the image analyzer. The image analyzer is connected to the cutting controller and is used to analyze the image information and generate bud eye information. The cutting controller generates a cutting control signal according to the bud eye information to respectively control the first parallel manipulator 5 and the second parallel manipulator 7 to cut the potatoes. The above image recognition device is a prior art and has been detailedly disclosed in a potato seed tuber cutting device with the authorization announcement number of CN110915355B, and will not be elaborated here.

[0042] In this embodiment, as Figure 1 and Figure 2 shown, a soft hair brush 6 is installed on the frame 1. The soft hair brush 6 is located above the inclined section conveying surface of the Z-shaped belt conveyor 3 and has a certain gap with the inclined section conveying surface to ensure that the potato blocks can pass through. By setting the soft hair brush 6, it can ensure that the potato blocks on the inclined section conveying surface are laid flat, and the position of the soft hair brush 6 can be adjusted to move in the left-right direction and the up-down direction to adjust the distance between it and the inclined section conveying surface, so as to adjust the laying thickness of the potato blocks.

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

[0044] The working principle of this embodiment is as follows:

[0045] When using this cutting and sorting device to cut potato seeds, the potatoes to be cut are loaded into the hopper 4.1. The vibrator 4.2 is started for vibrating feeding, which can stably convey the potatoes in the hopper 4.1 to the lower horizontal section conveying surface of the Z-shaped belt conveyor 3. The lower horizontal section conveying surface of the Z-shaped belt conveyor 3 conveys the potatoes. One of the cameras of the image recognition device is located above the lower horizontal section conveying surface to identify the bud eyes through planar projection. The image recognition device controls the action of the first parallel manipulator 5 to cut the potatoes on the lower horizontal section conveying surface, so as to obtain potato pieces with cutting surfaces. The lower horizontal section conveying surface continues to convey the potato pieces. At the lower part of the inclined section conveying surface, if the flat cutting surface of the potato piece contacts the inclined section conveying surface, the inclined section conveying surface can convey the potato piece. If the non-cutting surface of the potato piece contacts the inclined section conveying surface, the potato piece cannot move up to the inclined section conveying surface and rolls until the cutting surface of the potato piece contacts the inclined section conveying surface after adjustment. The cutting surface of the potato piece fits the inclined section conveying surface and is conveyed to the upper horizontal section conveying surface. The upper horizontal section conveying surface continues to convey the potato pieces. There are no bud eyes on the cutting surface of the potato piece, and its top surface is the arc surface of the potato. The other camera of the image recognition device is located above the upper horizontal section conveying surface to identify the bud eyes on the potato piece through planar projection. The image recognition device controls the action of the second parallel manipulator 7 to cut the potato pieces on the upper horizontal section conveying surface; identifying the bud eyes based on planar projection on the lower horizontal section conveying surface and the upper horizontal section conveying surface, using the existing image recognition device, reduces the difficulty of image recognition, is beneficial to saving equipment costs, uses a parallel manipulator to move at high speed in the plane for cutting to achieve rapid cutting, and cutting again after the secondary attitude placement of the potato piece cutting surface can improve the cutting efficiency and accuracy.

[0046] Embodiment 2

[0047] A potato seed cutting and sorting device, which is different from that in Embodiment 1 in that: as Figure 6As shown in the figure, the Z-shaped 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, rollers and pinch rollers; both 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 rollers and pinch rollers for tensioning the conveyor belt 3.1 and making the conveyor belt 3.1 in a Z shape are installed on the lower horizontal section bracket 3.9, the inclined section bracket 3.10 and the upper horizontal section bracket 3.13; a pitching angle adjustment mechanism 3.11 for driving the inclined section bracket 3.10 to rotate is installed on the frame 1, so as to adjust the inclination angle of the inclined section of the conveyor belt 3.1, 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 simultaneously by using the horizontal adjustment telescopic mechanism 3.12 to ensure the horizontality of the conveying surface of the upper horizontal section of the conveyor belt 3.1. 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 convey potatoes;

[0048] Specifically, the pitching angle adjustment mechanism 3.11 mainly consists 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, and the motor is used to drive the lead screw to rotate to control the axial movement of the lead screw nut on the lead screw. Both ends of the U-shaped bracket are hinged to the middle section of the inclined section bracket 3.10, and both 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 inclined section bracket 3.10 to rotate;

[0049] Specifically, the horizontal adjustment telescopic mechanism 3.12 is an electric push rod, its body is hinged to the inclined section bracket 3.10, and the end of its piston rod is hinged to the upper horizontal section bracket 3.13. By the telescopic movement of the piston rod of the horizontal adjustment telescopic mechanism 3.12, the upper horizontal section bracket 3.13 can be pushed to lift and lower to adapt to the inclination angle adjustment of the inclined section bracket 3.10;

[0050] Different from adjusting the position of the adjusting roller 3.5 by adjusting the horizontal position of the adjusting bearing seat 3.6 in Embodiment 1 and cooperating with the tensioning roller 3.8 to adjust the inclination angle of the inclined section of the conveyor belt 3.1, in this embodiment, the pitching angle of the inclined section of the conveyor belt 3.1 is quickly adjusted by the pitching angle adjustment mechanism 3.11 and the horizontal adjustment telescopic mechanism 3.12.

[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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the specification of the present invention.

Claims

1. A potato tuber cutting and sorting device, comprising a frame (1), a Z-shaped belt conveyor (3) installed on the frame (1), a vibrating feeding mechanism (4) and an image recognition device, characterized in that: The vibrating feeding mechanism (4) includes a hopper (4.1), a vibrator (4.2), a support plate (4.3) and springs (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 on 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 conveying surface of the Z-shaped belt conveyor (3); A first parallel manipulator (5) and a second parallel manipulator (7) are installed on the frame (1). Blades (2) are installed at the bottom ends of the first parallel manipulator (5) and the second parallel manipulator (7). The first parallel manipulator (5) is located above the lower horizontal section of the Z-shaped belt conveyor (3) for cutting potatoes on the lower horizontal conveying surface. The inclined section of the Z-shaped belt conveyor (3) is used to convey the potato tubers cut on the lower horizontal section to the upper horizontal section. The second parallel manipulator (7) is located above the upper horizontal section of the Z-shaped belt conveyor (3) for cutting the tubers on the upper horizontal conveying surface. The image recognition device is used to identify the potato eyes conveyed on the lower horizontal conveying surface and 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 tubers twice; 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 respectively rotatably connected to the base (5.1) and the top seat (5.3). The rotary drive motor (5.4) is installed at the top end of the top seat (5.3), and the output end of the rotary drive motor (5.4) is drivingly connected to the top end of the telescopic transmission section (5.2). The cylinder (5.8) is installed at the bottom end of the telescopic transmission section (5.2), and 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), and a swing rod (5.6) is connected to the output end of each swing motor (5.5). 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 rotatably connected to the swing rod (5.6) and the base (5.1); The blade (2) includes, but is not limited to, a "linear" blade and a "Y-shaped" blade; The inclination angle of the inclined section of the Z-shaped belt conveyor (3) is adjustable, and a soft hair brush (6) is installed on the frame (1), and the soft hair brush (6) is located above the inclined conveying surface of the Z-shaped belt conveyor (3).

2. The seed potato cutting and sorting device according to claim 1, wherein: The Z-shaped belt conveyor (3) includes a conveyor belt (3.1), and a driving roller (3.3), a first driven roller (3.4), an adjusting roller (3.5), an adjusting bearing block (3.6), a second driven roller (3.7), a tensioning roller (3.8) and a pressing wheel for tensioning the conveyor belt (3.1) and making the conveyor belt (3.1) in a Z shape; the driving roller (3.3), the first driven roller (3.4) and the second driven roller (3.7) are all fixedly installed on the frame (1), pressing wheels are installed above the front and rear ends of the first driven roller (3.4), both ends of the adjusting roller (3.5) are rotatably connected with the adjusting bearing block (3.6), and the adjusting bearing block (3.6) is installed on the frame (1) so as to be horizontally movable; a conveying driving motor (3.2) for driving the driving roller (3.3) to rotate is installed on the frame (1).

3. The potato seed tuber cutting and sorting device according to claim 1, wherein: The Z-shaped belt conveyor (3) includes a conveyor belt (3.1), a lower horizontal section support (3.9), an inclined section support (3.10), an upper horizontal section support (3.13), rollers and pressing wheels; both ends of the inclined section support (3.10) are respectively rotatably connected with the lower horizontal section support (3.9) and the upper horizontal section support (3.13), and rollers and pressing wheels for tensioning the conveyor belt (3.1) and making the conveyor belt (3.1) in a Z shape are installed on the lower horizontal section support (3.9), the inclined section support (3.10) and the upper horizontal section support (3.13); a pitching angle adjusting mechanism (3.11) for driving the inclined section support (3.10) to rotate is installed on the frame (1), a horizontal adjusting telescopic mechanism (3.12) for adjusting the height of the upper horizontal section support (3.13) is installed on the inclined section support (3.10), and a conveying driving motor (3.2) for driving one of the rollers to rotate is installed on the lower horizontal section support (3.9).

4. The seed potato cutting and sorting device according to claim 2 or 3, characterized in that: The inclination angle of the inclined section conveying surface of the Z-shaped belt conveyor (3) is 15 to 90°.

5. The seed potato cutting and sorting device according to claim 4, characterized in that: The inclination angle of the inclined section conveying surface of the Z-shaped belt conveyor (3) is 30 to 40°.

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