A tender stem cutting device for picking asparagus

Abstract

The invention discloses a tender stem cutting device for picking asparagus, belonging to the technical field of asparagus picking equipment, and comprising: a central rod, which is vertically arranged and fixed to an external picking mechanical arm; two waist plates, which are arranged on the left and right, and are symmetrically distributed on both sides of the central rod; a mounting plate, which is arranged in one-to-one correspondence with each waist plate, each waist plate is fixed with a vertically arranged guide rail, the mounting plate is slidably connected to the guide rail through a slider, a telescopic guide rod is fixed to the waist plate, and the telescopic ends of the telescopic guide rod are connected to the mounting plate; a stem measuring unit, which is installed above one side end surface of the mounting plate; a cutting mechanism, which is installed on the mounting plate and located below the stem measuring unit; an asparagus harvesting arm, which is located outside the picking mechanical arm and is used for harvesting the tender stems that have been cut; and the asparagus can be individually cut for individual plants, so that the asparagus that meets the picking standards can be subsequently cut and harvested, so as to avoid the immature asparagus being mistakenly harvested.

Description

Technical Field

[0001] The invention belongs to the technical field of asparagus picking equipment, in particular to a tender stem cutting device for asparagus picking. Background Art

[0002] Asparagus is an edible vegetable that is rich in vitamin B, vitamin A, and trace elements such as folic acid, selenium, iron, manganese, and zinc, and contains various amino acids necessary for the human body. Currently, large-scale cultivated asparagus is mostly harvested quickly using automatic harvesters. For example, the invention patent with publication number CN106612925A uses a main cutting knife and a side cutting knife to cut and dig the asparagus, thereby realizing rapid mechanized harvesting of asparagus. However, the harvester only uses a unified deep cutting method to cut into the ground below. Although it can achieve rapid cutting and harvesting of asparagus, some immature asparagus stems will also be cut at the same time, which increases the subsequent sorting labor and is prone to waste. At the same time, the unified deep cutting will damage the root system of the asparagus, causing damage to the plant and affecting subsequent growth. After cutting, part of the root system of the asparagus will be exposed to the air, increasing the risk of pests and diseases.

[0003] Therefore, it is necessary to provide a tender stem cutting device for picking asparagus to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above object, the present invention provides the following technical solution: a tender stem cutting device for picking asparagus, comprising:

[0005] A central rod is arranged vertically and fixed to an external picking mechanical arm;

[0006] Waist plates, which are two arranged on the left and right sides, and the two waist plates are symmetrically distributed on both sides of the central rod;

[0007] A mounting plate is arranged corresponding to each of the waist plates, each of the waist plates is fixed with a vertically arranged guide rail, the mounting plate is slidably connected to the guide rail via a slider, a telescopic guide rod is fixed to the waist plate, and the telescopic ends of the telescopic guide rod are connected to the mounting plate;

[0008] A stem measuring unit is installed above one end surface of the mounting plate. The stem measuring unit is clamped on both sides of the asparagus stems through the waist plate, and is used to measure the diameter of the asparagus stems at multiple points in the vertical direction, so as to obtain the thickness change of the asparagus stems, thereby judging the current growth status of the asparagus.

[0009] A cutting mechanism, mounted on the mounting plate and located below the stem measuring unit, wherein the cutting mechanism cuts the tender stems of the asparagus that meets the picking standards;

[0010] The asparagus harvesting arm, located outside the harvesting mechanical arm, is used to harvest the tender stems that have been cut;

[0011] The cutting mechanism comprises a positioning frame, which is vertically fixed on each waist plate, and a frame plate is rotatably connected to the bottom of each positioning frame, and a knife disc is rotatably installed on one end surface of the frame plate, and each knife disc is installed with a cutting knife tilted upward; the two cutting knives are in contact with both sides of the tender stems of asparagus, and gradually cut into the tender stems as the waist plate is pulled upward;

[0012] The incision formed by the cutting knife on the tender asparagus stem is horizontal or conical.

[0013] Preferably, a plurality of adapter frames are fixed on one end surface of each waist plate close to the central rod, and each adapter frame is vertically arranged and distributed on the waist plate, and the waist plate is rotatably connected to the central rod through the adapter frame;

[0014] A plurality of horizontally arranged mounting sleeves are fixed on the central rod, and electric telescopic rods are fixed in the mounting sleeves. A plurality of brackets are rotatably connected to the side of the waist plate away from the central rod, and the brackets are distributed up and down on the waist plate, and the other ends of the brackets are hinged to the electric telescopic rods.

[0015] Preferably, the angle formed between the two waist plates is greater than 135° and does not exceed 180°.

[0016] Preferably, the stem measuring unit comprises:

[0017] A slide plate is provided corresponding to each of the mounting plates, two guide holes are provided on the slide plate, and a limit pin is fixed on the mounting plate, and the slide plate is slidably connected with the mounting plate through the sliding cooperation of the limit pin and the guide hole;

[0018] Roller frames are symmetrically distributed on each of the slides;

[0019] A distance measuring sensor is installed on one of the slides, and a receiver is arranged on the other slide, and the receiver is used to receive an output signal of the distance measuring sensor.

[0020] Preferably, a connecting spring is horizontally arranged on the mounting plate, one end of the connecting spring is connected to the slide plate, and the slide plate is pushed to a side away from the center rod through the spring force;

[0021] The slide plates are all fixed with fixing frames, the fixing frames are fixed with vertically arranged wind shields, the mounting plates are all installed with airflow discs, and the jet ends of the airflow discs face the wind shields.

[0022] Preferably, the cutting mechanism further comprises a fine-adjustment telescopic rod, one end of which is connected to the mounting plate, and one end of the fine-adjustment telescopic rod is hinged to the frame plate, and each of the fine-adjustment telescopic rods controls the cutter discs on the two frame plates to move closer to or away from the middle under synchronous telescopic adjustment;

[0023] The frame plate is fixed with an axle seat, the cutter disc is coaxially rotatably connected to the axle seat, a mounting gap is provided between the axle seat and the cutter disc, a limiting block is fixed on the cutter disc in the mounting gap, one side of the limiting block is in contact with the axle seat; a support spring and a compression spring are respectively provided on both sides of the limiting block in the mounting gap;

[0024] A sealing cavity is arranged in the installation gap, a piston is slidably connected in the sealing cavity, one end of the piston is connected to a push rod, and the other end of the push rod is connected to a compression spring.

[0025] Preferably, an air pressure tube is connected to the outside of the sealed cavity, and the air pressure tube is used to adjust the air pressure in the sealed cavity so that the end of the cutting knife is pressed against the surface of the tender stems in the early stage of cutting the tender stems of asparagus.

[0026] Preferably, a stopper is horizontally fixed outside the shaft seat, and the stopper is used to limit the deflection of the cutting knife in a horizontal state.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The asparagus tender stem cutting device adopted in the present invention can perform individual cutting on a single asparagus plant, and the cutting and obtaining process is simple, and does not affect the rapid harvesting of large-scale planted asparagus; the stem measuring unit mainly arranged therein can perform multi-point diameter measurement on the tender stem of a single asparagus plant, so as to obtain the thickness change of the position of the asparagus tender stem, thereby inferring the growth condition of the asparagus, so as to perform subsequent cutting and harvesting on the asparagus that meets the picking standard, avoid the immature or too small asparagus from being mistakenly harvested, reduce unnecessary cutting, and reduce waste; at the same time, the cutting mechanism also arranged can provide differentiated cutting for a single asparagus plant, so as to adjust the incision of the asparagus tender stem, thereby ensuring that each asparagus can be cut at the best position on the one hand, avoiding the unevenness caused by one-size-fits-all cutting; on the other hand, it can avoid the root system of the asparagus from being exposed to the air as much as possible, reducing the risk of diseases and insect pests. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic structural diagram of the cutting mechanism in the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the bracket and the adapter frame in the present invention;

[0032] Figure 4 It is a structural schematic diagram of the stem measuring unit in the present invention;

[0033] Figure 5 It is a schematic structural diagram of the cutting mechanism in the present invention;

[0034] Figure 6 for Figure 5 A schematic diagram of the structure enlargement in the middle;

[0035] In the figure: 1. center rod; 11. telescopic guide rod; 12. mounting sleeve; 13. electric telescopic rod; 14. bracket; 2. waist plate; 21. mounting plate; 22. guide rail; 23. adapter frame; 3. stem measuring unit; 31. slide plate; 32. limit pin; 33. roller frame; 34. distance measuring sensor; 35. connecting spring; 36. fixing frame; 37. wind shield; 38. air flow disk; 4. cutting mechanism; 41. positioning frame; 42. frame plate; 43. knife disc; 44. cutting knife; 45. fine-tuning telescopic rod; 46. shaft seat; 47. limit block; 48. support spring; 49. compression spring; 5. sealing chamber; 51. push rod; 52. air pressure tube; 53. block. DETAILED DESCRIPTION

[0036] See also Figure 1-Figure 6 In an embodiment of the present invention, a tender stem cutting device for picking asparagus comprises:

[0037] A central rod 1 is arranged vertically and fixed to an external picking mechanical arm;

[0038] Two waist plates 2 are arranged on the left and right sides, and the two waist plates 2 are symmetrically distributed on both sides of the central rod 1;

[0039] The mounting plates 21 are arranged corresponding to each of the waist plates 2. A vertical guide rail 22 is fixed on each of the waist plates 2. The mounting plates 21 are slidably connected to the guide rail 22 via a slider. A telescopic guide rod 11 is fixed on the waist plate 2. The telescopic ends of the telescopic guide rod 11 are connected to the mounting plates 21.

[0040] The stem measuring unit 3 is installed above one side end surface of the mounting plate 21. The stem measuring unit 3 is clamped on both sides of the asparagus stems through the waist plate 2, and is used to measure the diameter of the asparagus stems to be picked at multiple points in the vertical line, so as to obtain the thickness change of the asparagus stems, so as to judge the current growth status of the asparagus. The height of the asparagus stems grown in the greenhouse is about 15cm to 25cm when picked. In the early spring season, due to the low temperature, the growth rate of asparagus is slow, and the stems may be shorter, about 15cm to 20cm. In the warm season, asparagus grows faster, and the stems can reach 20cm to 25cm or even longer. Therefore, the stem measuring unit 3 can adjust the measurement point according to the harvest season. The diameter of the normally harvested stems is generally in the range of 7.5mm-10.5mm. According to experience, if the diameter of the asparagus near the root reaches a certain standard (for example, above 8mm), it can be considered that it is mature and suitable for picking.

[0041] A cutting mechanism 4 is mounted on the mounting plate 21 and is located below the stem measuring unit, and the cutting mechanism 4 cuts the tender stems of the asparagus that meets the picking standards;

[0042] The asparagus harvesting arm (not shown in the figure) is located outside the harvesting mechanical arm and is used to harvest the tender stems that have been cut;

[0043] The cutting mechanism 4 includes a positioning frame 41, which is vertically fixed on each of the waist boards 2. A frame board 42 is rotatably connected to the bottom of the positioning frame 41. A knife disc 43 is rotatably mounted on one end surface of the frame board 42. Each of the knife discs 43 is mounted with a cutting knife 44 that is tilted upward. The two cutting knives 44 contact both sides of the tender stems of asparagus and gradually cut into the tender stems as the waist board 2 is pulled upward.

[0044] The incision formed by the cutting knife 44 on the tender stems of asparagus is horizontal or conical. Of the two incision shapes, the horizontal incision makes the end of the asparagus very neat and more beautiful, suitable for direct display or sale, while reducing the surface area of ​​the tender stems of asparagus, helping to reduce water loss and prolong the shelf life of asparagus; while the conical incision causes less damage to the internal tissue of the asparagus, and can better protect the immature part of the asparagus and avoid affecting other parts during cutting; at the same time, the use of the conical incision can make it easier to identify the growth stage of asparagus, especially in greenhouse management, which helps to judge whether the picking standards are met.

[0045] In this embodiment, a plurality of adapter frames 23 are fixed to one end surface of each waist plate 2 close to the central rod 1, and each adapter frame 23 is vertically arranged and distributed on the waist plate 2, and the waist plate 2 is rotatably connected to the central rod 1 through the adapter frame 23;

[0046] A plurality of horizontally arranged mounting sleeves 12 are fixed on the central rod 1, and electric telescopic rods 13 are fixed in the mounting sleeves 12. A plurality of brackets 14 are rotatably connected to the side of the waist plate 2 away from the central rod 1, and each of the brackets 14 is distributed up and down on the waist plate 2, and the other end of each bracket 14 is hinged to the electric telescopic rod 13, that is, the electric telescopic rod 13 can realize the rotation adjustment of the waist plate 2 under telescopic adjustment, so that the two waist plates 2 form a contraction and spreading effect similar to that of hinges, so that the stem measuring unit 3 can be fully in contact with both sides of the tender stem before cutting the tender stem; specifically, there is a certain angle between the two waist plates 2 before use, and the stem measuring unit 3 is in an open and closed state at this time. When the waist plates 2 are adjusted to both sides of the tender stem, the electric telescopic rod 13 is telescopically adjusted, so that the angle between the two waist plates 2 gradually increases and finally reaches a horizontal state. At this time, the stem measuring unit 3 is in full contact with the tender stem, which is convenient for subsequent measurement and cutting.

[0047] As a preferred embodiment, the angle formed between the two waist panels 2 is greater than 135° and does not exceed 180°.

[0048] In this embodiment, the stem measuring unit 3 comprises:

[0049] A slide plate 31 is provided corresponding to each of the mounting plates 21. Two guide holes are provided on the slide plate 31. A limit pin 32 is fixed on the mounting plate 21. The slide plate 31 is slidably connected to the mounting plate 21 through the sliding cooperation between the limit pin 32 and the guide hole.

[0050] Roller racks 33 are symmetrically distributed on each of the slides 31;

[0051] The distance measuring sensor 34 is installed on one of the slides 31, and a receiver is provided on the other slide 31. The receiver is used to receive the output signal of the distance measuring sensor 34. That is to say, the roller frames 33 on the two waist plates 2 are respectively against the two sides of the tender stems. When the waist plates 2 move up and down, the rollers on the roller frames 33 roll in contact with the tender stems, and as the diameter of the tender stems changes, the two slides 31 are pushed to slide to the sides accordingly. The distance measuring sensor 34 can transmit the distance measuring signal in real time, thereby obtaining the diameter change of the asparagus tender stems, which is convenient for judging whether the asparagus meets the picking standards.

[0052] In this embodiment, a connecting spring 35 is horizontally arranged on the mounting plate 21, one end of the connecting spring 35 is connected to the slide plate 31, and the slide plate 31 is pushed to a side away from the center rod 1 by the spring force;

[0053] The slide plate 31 is fixed with a fixing frame 36, and a vertically arranged wind shield 37 is fixed on the fixing frame 36. The mounting plate 21 is installed with an air flow disk 38, and the jet end of the air flow disk 38 is facing the wind shield 37, so that the roller frame 33 on the slide plate 31 is pushed to contact the surface of the tender stem by the air flow, which has little pressure on the tender stem and avoids squeezing damage to the tender stem.

[0054] In this embodiment, the cutting mechanism 4 also includes a fine-tuning telescopic rod 45, one end of which is connected to the mounting plate 21, and one end of the fine-tuning telescopic rod 45 is hinged to the frame plate 42. Each of the fine-tuning telescopic rods 45 controls the knife discs 43 on the two frame plates 42 to move closer to or farther away from the middle under synchronous telescopic adjustment; thereby, by adjusting the spacing between the two knife discs 43, the shape of the incision after the cutting knife 44 cuts the tender stem is adjusted; for example, when the spacing between the two knife discs 43 is the largest, the cutting knife 44 is finally horizontal during the rotational cutting. At this time, the ends of the two cutting knives 44 abut against each other to achieve the effect of cutting off the tender stem; and in the specific cutting of the tender stem, the cutting knife 44 is inclined and abuts against the surface of the tender stem. When the center rod 1 is pulled upward with the picking robot arm, the waist plate moves upward, and the cutting knife 44 is deflected by the knife disc 43 and gradually cuts into the tender stem. When the two cutting knives 44 are completely in contact and abut, the tender stem can be cut off, and the cutting efficiency is high.

[0055] A shaft seat 46 is fixed on the frame plate 42, and the cutter disc 43 is coaxially rotatably connected to the shaft seat 46. A mounting gap is provided between the shaft seat 46 and the cutter disc 43. A limiting block 47 is fixed on the cutter disc 43 in the mounting gap, and one side of the limiting block 47 is in contact with the shaft seat 46. A support spring 48 and a compression spring 49 are respectively provided on both sides of the limiting block 47 in the mounting gap.

[0056] A sealing cavity 5 is provided in the installation gap, and a piston is slidably connected in the sealing cavity 5. One end of the piston is connected to a push rod 51, and the other end of the push rod 51 is connected to a compression spring 49, wherein the piston can adjust the deflection angle of the cutting knife on the knife disc 43 through the push rod 51. Therefore, during the tender stem measurement stage, in order to prevent the cutting knife 44 from completely resting on the surface of the tender stem and affecting the normal measurement of the stem, the cutting knife 44 is pushed and deflected in a direction away from the tender stem by the piston, so that the cutting knife 44 does not contact the tender stem.

[0057] As a preferred embodiment, the sealed cavity 5 is externally connected to an air pressure tube 52, and the air pressure tube 52 is used to adjust the air pressure of the sealed cavity 5 so that the end of the cutting knife 44 is pressed against the surface of the tender stems in the early stage of cutting the asparagus tender stems; that is, in the cutting stage, the piston can provide a certain torsional force to the knife disc 43 through the push rod 51, so that the cutting knife 44 is pressed and contacted on the surface of the tender stems, thereby avoiding the cutting knife 44 from sliding with the tender stems during cutting, thereby ensuring its normal cutting work.

[0058] In this embodiment, a stopper 53 is horizontally fixed outside the shaft seat 46, and the stopper 53 is used to limit the deflection of the cutting knife 44 in a horizontal state, wherein the horizontal state is the limit state of the deflection of the cutting knife 44; specifically, the growth condition of the asparagus is determined according to the diameter measurement result of the asparagus tender stem position, and then the incision shape is determined based on the growth condition of the asparagus, so that the distance between the two knife discs 43 is adjusted by fine-tuning the telescopic effect of the telescopic rod 45, so that the cutting knife 44 is inclined or horizontal when the asparagus is finally cut.

[0059] What has been described above are only preferred specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tender stem cutting device for picking asparagus, characterized in that: It includes: A central rod (1) is arranged vertically and fixed to an external picking mechanical arm; Two waist plates (2) are arranged on the left and right, and the two waist plates (2) are symmetrically distributed on both sides of the central rod (1); A mounting plate (21) is arranged corresponding to each of the waist plates (2), each of the waist plates (2) is fixed with a vertically arranged guide rail (22), the mounting plate (21) is slidably connected to the guide rail (22) via a slider, a telescopic guide rod (11) is fixed to the waist plate (2), and the telescopic ends of the telescopic guide rod (11) are connected to the mounting plate (21); A stem measuring unit (3) is mounted above one end surface of the mounting plate (21); the stem measuring unit (3) is clamped on both sides of the asparagus stems via the waist plate (2) and is used to perform vertical multi-point diameter measurement on the asparagus stems to be picked, so as to obtain the thickness change of the asparagus stems, thereby judging the current growth status of the asparagus; A cutting mechanism (4) is mounted on the mounting plate (21) and is located below the stem measuring unit, wherein the cutting mechanism (4) cuts the tender stems of asparagus that meets the picking standards; The asparagus harvesting arm, located outside the harvesting mechanical arm, is used to harvest the tender stems that have been cut; The cutting mechanism (4) comprises a positioning frame (41) vertically fixed on each of the mounting plates (21); a frame plate (42) is rotatably connected below the positioning frame (41); a knife disc (43) is rotatably mounted on one end surface of the frame plate (42); and each of the knife discs (43) is mounted with a cutting knife (44) tilted upward; the two cutting knives (44) contact both sides of the tender stems of the asparagus and gradually cut into the tender stems as the waist plate (2) is pulled upward; The incision formed by the cutting knife (44) on the tender asparagus stem is horizontal or conical; A plurality of adapter frames (23) are fixed to one end surface of each waist plate (2) close to the central rod (1), and each adapter frame (23) is vertically arranged and distributed on the waist plate (2), and the waist plate (2) is rotatably connected to the central rod (1) via the adapter frame (23); A plurality of horizontally arranged mounting sleeves (12) are fixed on the central rod (1), and an electric telescopic rod (13) is fixed in each of the mounting sleeves (12). A plurality of brackets (14) are rotatably connected to a side of the waist plate (2) away from the central rod (1), and each of the brackets (14) is vertically distributed on the waist plate (2), and the other ends of the brackets (14) are hinged to the electric telescopic rod (13).

2. A tender stem cutting device for picking asparagus according to claim 1, characterized in that: The angle formed between the two waist plates (2) is greater than 135° and does not exceed 180°.

3. A tender stem cutting device for picking asparagus according to claim 1, characterized in that: The stem measuring unit (3) comprises: A slide plate (31) is arranged corresponding to each of the mounting plates (21), two guide holes are provided on the slide plate (31), and a limit pin (32) is fixed on the mounting plate (21), and the slide plate (31) is slidably connected to the mounting plate (21) through the sliding cooperation of the limit pin (32) and the guide hole; Roller frames (33) are symmetrically distributed on each of the slides (31) in an upper and lower manner; A distance measuring sensor (34) is mounted on one of the slides (31), and a receiver is provided on the other slide (31), the receiver being used to receive an output signal of the distance measuring sensor (34).

4. A tender stem cutting device for picking asparagus according to claim 3, characterized in that: A connecting spring (35) is horizontally arranged on the mounting plate (21), one end of the connecting spring (35) is connected to the slide plate (31), and the slide plate (31) is pushed toward a side away from the center rod (1) by the elastic force of the spring; The slide plates (31) are all fixed with fixing frames (36), and a vertically arranged windshield (37) is fixed on the fixing frames (36). The mounting plates (21) are all installed with airflow discs (38), and the jet end of the airflow discs (38) faces the windshield (37).

5. The tender stem cutting device for picking asparagus according to claim 1, characterized in that: The cutting mechanism (4) further comprises a fine-adjustment telescopic rod (45), one end of which is connected to the mounting plate (21), one end of which is hinged to the frame plate (42), and each of the fine-adjustment telescopic rods (45) controls the blade discs (43) on the two frame plates (42) to move closer to or farther from the middle under synchronous telescopic adjustment; A shaft seat (46) is fixed on the frame plate (42), the cutter disc (43) is coaxially rotatably connected to the shaft seat (46), a mounting gap is provided between the shaft seat (46) and the cutter disc (43), a limiting block (47) is fixed on the cutter disc (43) in the mounting gap, one side of the limiting block (47) is in abutment contact with the shaft seat (46); a support spring (48) and a compression spring (49) are respectively provided on both sides of the limiting block (47) in the mounting gap; A sealing cavity (5) is provided in the installation gap, a piston is slidably connected in the sealing cavity (5), one end of the piston is connected to a push rod (51), and the other end of the push rod (51) is connected to a compression spring (49).

6. A tender stem cutting device for picking asparagus according to claim 5, characterized in that: The sealed cavity (5) is externally connected to an air pressure tube (52), and the air pressure tube (52) is used to adjust the air pressure in the sealed cavity (5) so that the end of the cutting knife (44) is pressed against the surface of the tender asparagus stems in the early stage of cutting the tender asparagus stems.

7. A tender stem cutting device for picking asparagus according to claim 6, characterized in that: A stopper (53) is horizontally fixed outside the shaft seat (46), and the stopper (53) is used to deflect and limit the cutting knife (44) in a horizontal state.

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