A fruit and vegetable old leaf beating device and method

Abstract

The application discloses a fruit and vegetable old leaf beating device and method, and relates to the field of agricultural machinery.The device comprises a distance-expanding mechanism, a distance-reducing mechanism, a self-rotating friction stick I, a cutting tool, a photoelectric sensor, a dust cover and an outer frame.The distance-expanding mechanism comprises an electric push rod, a distance-expanding block, a first sliding block, a first linear guide rail and a cushion block, and is fixed to the outer frame.The distance-reducing mechanism comprises a displacement plate, a second sliding block, a second linear guide rail and a return spring, and is fixed to the outer frame.The self-rotating friction stick I comprises a snap spring, a bearing, a bearing seat, a rubber friction stick, a shaft coupling, a motor fixing frame and a stepping motor, and is fixed to the distance-reducing mechanism.The cutting tool comprises a tool fixing frame, a flexible blade and a special-shaped limiting block, and is fixed to the distance-reducing mechanism.The application determines the accurate depth information of the main stem through the signal change of the photoelectric sensor, and the special-shaped part can be used to right, clamp and protect the main stem, and the device can be suitable for main stems with different diameters, has the advantages of high precision, high efficiency and high operation effect, and promotes the development of agricultural machinery equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery, in particular to a fruit and vegetable old leaf beating device and method. BACKGROUND

[0002] Fruit and vegetable is one of the most important vegetable crops in the world, which not only has a huge demand in the fresh market, but also plays an important role in the processing industry. However, the existence of old leaves in the process of fruit and vegetable planting will seriously affect the photosynthesis of plants, reduce the light absorption efficiency, and thus affect the quality and yield of fruits. Therefore, timely beating old leaves of plants is an important link in the process of plant planting. At present, the beating old leaves process of plants mainly relies on manual operation, which not only consumes a lot of time and labor, but also easily causes damage to plants, so it is urgent to replace people with machines. In the operation process of the existing equipment, the branching point of the plant is mainly recognized by a depth camera, and the single branch is operated in combination with the equipment. However, this method has the problems of low positioning accuracy and poor operation efficiency, which is difficult to meet the large-scale and efficient operation demand.

[0003] Through in-depth analysis and research on the beating old leaf operation demand, and combined with the existing technology of various old leaf beating devices at home and abroad, the present application proposes a fruit and vegetable old leaf beating device and method using photoelectric sensor to accurately obtain plant depth information. The device can realize continuous operation of single plant, and has the characteristics of high standard and low damage. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art, and to provide a fruit and vegetable old leaf beating device and method which can accurately determine the depth information of plant main stem, continuously operate, has high operation standard and low damage.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a fruit and vegetable old leaf beating device, characterized in that: it comprises a distance expanding mechanism, a distance reducing mechanism, a self-rotating friction roller I, a self-rotating friction roller II, a cutting tool I, a cutting tool II, a photoelectric sensor, a dust cover and an outer frame; the distance expanding mechanism is fixed on the top plate, the distance reducing mechanism is fixed on the top plate, the self-rotating friction roller I and the self-rotating friction roller II are fixed on the distance reducing mechanism, the cutting tool I and the cutting tool II are fixed on the distance reducing mechanism, the photoelectric sensor is fixed on the distance reducing mechanism, and the dust cover is fixed on the distance reducing mechanism.

[0007] Further, the distance-expanding mechanism comprises an electric push rod, a distance-expanding block, a first sliding block, a first linear guide rail, a cushion block and screws and nuts for fixation; one end of the distance-expanding block is fixed to the electric push rod, and the other end is fixed to the first sliding block, and the first sliding block is fixed to the first linear guide rail; the electric push rod drives the distance-expanding block fixed to the first sliding block to move linearly along the first linear guide rail.

[0008] Further, the self-rotating friction roller I comprises a shaft clamp spring I, a hole clamp spring I, a bearing I, a bearing seat I, a rubber friction roller, a bearing seat II, a bearing II, a shaft clamp spring II, a hole clamp spring II, a coupling, a motor fixing frame and a stepping motor; the rubber friction roller is fixed to the bearing seat I and the bearing II by means of the shaft clamp spring I, the hole clamp spring I, the shaft clamp spring II and the hole clamp spring II; the bearing seat I and the bearing II are fixed to the bearing seat I and the bearing seat II respectively; the stepping motor is fixed to the motor fixing frame; the output shaft of the stepping motor and the shaft of the rubber friction roller are fixed together by the coupling; the rubber friction roller rotates at a constant speed under the drive of the stepping motor.

[0009] Further, the cutting tool I comprises a tool fixing frame, a flexible blade, a special-shaped limiting block and screws for fixation; the flexible blade is between the fixing frame and the special-shaped limiting block and is fixed to the tool fixing frame by the screws.

[0010] Further, the outer frame comprises a bottom plate, a side plate and a top plate.

[0011] Further, the signal changes when the photoelectric sensor detects the main stem.

[0012] Further, the cutting tool I, the cutting tool II, the self-rotating friction roller I and the self-rotating friction roller II are in direct contact with the main stem through the special-shaped limiting block and the rubber friction roller under the action of the distance-expanding mechanism and the distance-reducing mechanism.

[0013] Further, the distance-expanding block is an isosceles triangle, the tip is a flat angle, and the nut can be embedded in the groove.

[0014] Further, the electric push rod, the distance-expanding block, the second sliding block, the second linear guide rail and the cushion block are symmetrical with each other.

[0015] Further, the two displacement plates are symmetrical as a whole.

[0016] Further, the natural length of the return spring can reset the displacement plate, and the maximum elongation can meet the operation requirement.

[0017] Further, the rubber friction roller has a metal shaft in the center and a rubber rod on the outside, and the shaft has a groove.

[0018] Further, the tool fixing frame has a threaded hole.

[0019] Further, the tool fixing frame can adjust the distance between the two tools through the slot hole, and the fixing mode is not limited to bolt fastening connection and adhesive connection.

[0020] Further, the distance expanding mechanism, the distance reducing mechanism, the two self-rotating friction rods and the two cutting tools are symmetrical as a whole when installed.

[0021] In the second aspect of the present application, a fruit and vegetable old leaf removing method is provided, comprising the following steps:

[0022] S1: In the initial state, the distance reducing mechanism is in the closed state under the action of the return spring tension.

[0023] S2: The mechanical arm moves the fruit and vegetable old leaf removing device to a position where the end face is perpendicular to the growth direction of the main stem according to the main stem plane coordinate data provided by the monocular camera, and moves along the depth direction of the depth camera, and stops after moving a certain distance when the photoelectric sensor signal changes.

[0024] S3: The electric push rod is retracted to drive the distance expanding block to retract, the displacement plate moves linearly along the second guide rail under the action of the return spring to close the distance reducing mechanism, and the rubber friction rod and the special-shaped limiting block contact the main stem of the plant to realize the righting, clamping and protection of the main stem.

[0025] S4: The mechanical arm moves the fruit and vegetable old leaf removing device upward by a certain distance, and the stepping motor drives the rubber friction rod to rotate at a certain speed to avoid pulling the main stem during the upward movement of the actuator, and the flexible blade contacts the lateral branch to realize the cutting of the lateral branch and remove the old leaves.

[0026] S5: The electric push rod drives the distance expanding block to move, so that the distance reducing mechanism is opened.

[0027] S6: The mechanical arm is retracted to return to the initial state, and waits for the next operation signal.

[0028] The present application has the following advantages:

[0029] The fruit and vegetable old leaf removing device of the present application can realize the adaptive adjustment of the pose of the main stem during the movement of the old leaf removing device through the contact between the special-shaped limiting block and the main stem of the plant, thereby realizing the effective righting and protection of the main stem. The distance reducing mechanism of the device can be adjusted adaptively according to the change of the diameter of the main stem, which improves the adaptability of the device to different plants. The internal structure of the device is highly cohesive and lowly coupled, the action is rapid, the working efficiency is high, and the device has the advantages of beauty, stability, ease of manufacturing and the like, which fully meets the needs of modern agricultural production for high efficiency, precision and reliability.

[0030] In addition, the fruit and vegetable old leaf beating device and method can obtain the main stem depth information of the plant through the change of the photoelectric sensor signal, reduce the visual recognition burden, and improve the positioning accuracy. Under the action of the special-shaped limiting block, the main stem of the plant changes with the position change of the old leaf beating device. The old leaf beating work of a single plant is realized at one time from bottom to top, and the old leaf beating efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a front isometric view of the fruit and vegetable old leaf beating device of the present application;

[0032] Figure 2 is a back isometric view of the fruit and vegetable old leaf beating device of the present application;

[0033] Figure 3 is a three-dimensional explosion view of the distance expansion mechanism of the present application, corresponding to 1 in Figure 1 ;

[0034] Figure 4 is a three-dimensional explosion view of the distance contraction mechanism of the present application, corresponding to 2 in Figure 1 ;

[0035] Figure 5 is a three-dimensional explosion view of the self-rotating friction roller 1 of the present application, corresponding to 3 in Figure 1 ;

[0036] Figure 6 is a three-dimensional explosion view of the cutting tool 1 of the present application, corresponding to 5 in Figure 1 ;

[0037] BRIEF DESCRIPTION OF DRAWINGS:

[0038] 1-distance expansion mechanism; 2-distance contraction mechanism; 3-self-rotating friction roller I; 4-self-rotating friction roller II; 5-cutting tool I; 6-cutting tool II; 7-photoelectric sensor; 8-dust cover; 9-outer frame; 101-electric push rod; 102-distance expansion block; 103-first sliding block; 104-first linear guide rail; 105-pad; 201-shifting plate; 202-second sliding block; 203-second linear guide rail; 204-return spring; 301-axle clamp spring I; 302-hole clamp spring I; 303-bearing I; 304-bearing seat I; 305-rubber friction roller; 306-bearing seat II; 307-bearing II; 308-hole clamp spring II; 309-axle clamp spring II; 310-coupling; 311-motor fixing frame; 312-stepping motor; 501-tool fixing frame; 502-flexible blade; 503-special-shaped limiting block; 901-bottom plate; 902-side plate; 903-top plate. DETAILED DESCRIPTION

[0039] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, specific embodiments of the present application are described in detail below with reference to the drawings.

[0040] Referring to the drawings Figures 1-2 The fruit and vegetable old leaf removing device comprises a distance-expanding mechanism 1, a distance-reducing mechanism 2, a self-rotating rubbing stick I 3, a self-rotating rubbing stick II 4, a cutting tool I 5, a cutting tool II 6, a photoelectric sensor 7, a dust cover 8, and an outer frame 9. The distance-expanding mechanism 1 is fixed on a top plate 903, the distance-reducing mechanism 2 is fixed on the top plate 903, the self-rotating rubbing stick I 3 and the self-rotating rubbing stick II 4 are fixed on the distance-reducing mechanism 2, the cutting tool I 5 and the cutting tool II 6 are fixed on the distance-reducing mechanism 2, the photoelectric sensor 7 is fixed on the distance-reducing mechanism 2, and the dust cover 8 is fixed on the distance-reducing mechanism 2. Therefore, the highly modularized structure can reduce the difficulty of installation and facilitate maintenance and repair.

[0041] Referring to the drawings Figure 3 The distance-expanding mechanism 1 comprises an electric push rod 101, a distance-expanding block 102, a first sliding block 103, a first linear guide rail 104, a pad 105, and screws and nuts for fixing. One end of the distance-expanding block 102 is fixed on the electric push rod 101, and the other end is fixed on the first sliding block 103. The first sliding block 103 is fixed on the first linear guide rail 104. The electric push rod 101 drives the distance-expanding block 102 fixed on the first sliding block 103 to move linearly along the first linear guide rail 104. Therefore, the operation of the distance-expanding block 102 can be stable, and precise control can be achieved.

[0042] Referring to the drawings Figure 4 The distance-reducing mechanism 2 comprises a displacement plate 201, a second sliding block 202, a second linear guide rail 203, a return spring 204, and screws for fixing. The return spring 204 is fixed on the displacement plate 201, the displacement plate 201 is fixed on the second sliding block 202, and the second sliding block 202 is fixed on the second linear guide rail 203. The distance-reducing mechanism 2 drives the displacement plate 201 fixed on the second sliding block 202 to move linearly along the second linear guide rail 203 under the action of the pushing force of the distance-expanding block 102 and the pulling force of the return spring 204. Therefore, the opening and closing are more smooth, and the operation is more stable.

[0043] Referring to the drawings Figure 5, the self-rotating friction roller I 3 includes shaft clasp I 301, hole clasp I 302, bearing I 303, bearing seat I 304, rubber friction roller 305, bearing seat II 306, bearing II 307, shaft clasp II 309, hole clasp II 308, shaft coupling 310, motor fixing frame 311, and stepping motor 312; the rubber friction roller 305 is fixed on the bearing seat I 304 and bearing II 307 by means of the shaft clasp I 301, hole clasp I 302, shaft clasp II 309, and hole clasp II 308; the bearing seat I 304 and bearing II 307 are fixed on the bearing seat I 304 and bearing seat II 306, respectively; the stepping motor 312 is fixed on the motor fixing frame 311; the output shaft of the stepping motor 312 and the shaft of the rubber friction roller 305 are fixed together by the shaft coupling 310; and the rubber friction roller 305 rotates at a constant speed under the driving of the stepping motor 312. Therefore, the rotating speed of the friction roller 305 is matched with the moving speed of the mechanical arm, the plant is relatively fixed with the end effector, the track clamping function can effectively prevent the pulling of the main stem during the operation.

[0044] Referring to the accompanying drawings Figure 6 , the cutting tool I 5 includes tool fixing frame 501, flexible blade 502, special-shaped limiting block 503, and fixing screw; the flexible blade 502 is between the tool fixing frame 501 and the special-shaped limiting block 503 and is fixed on the tool fixing frame 501 by the screw. Therefore, the tool structure is compact, and the special-shaped structure is integrally formed, and the appearance is beautiful.

[0045] Referring to the accompanying drawings Figures 1-2 , the outer frame 9 includes bottom plate 901, side plate 902, and top plate 903. Therefore, the structure is more compact, and the fixation is stable.

[0046] Referring to the accompanying drawings Figures 1-2 When the photoelectric sensor 7 detects the main stem, the signal will change. Therefore, the depth information of the main stem can be accurately determined.

[0047] Referring to the accompanying drawings Figures 1-2 , the cutting tool I 5, cutting tool II 6, self-rotating friction roller I 3, and self-rotating friction roller II 4 are in direct contact with the main stem through the special-shaped limiting block and the rubber friction roller under the action of the distance expansion mechanism 1 and the distance contraction mechanism 2. Therefore, the righting, clamping, and protection of the main stem can be realized.

[0048] Referring to the accompanying drawings Figure 3 , the distance expansion block 102 is an isosceles triangle, the tip is a flat angle, and the nut can be embedded in the groove. Therefore, the wear of the distance expansion block 102 can be reduced, and the overall structure is compact and beautiful.

[0049] Referring to the accompanying drawings Figure 3The electric push rod 101, the distance-expanding block 102, the first sliding block 103, the first linear guide rail 104 and the cushion block 105 are symmetrical with each other. Therefore, the required pushing force is small, the control is accurate, and the operation is consistent.

[0050] Referring to the accompanying drawings Figure 4 The two displacement plates 201 are symmetrical as a whole. Therefore, the main stem can be ensured to be in the middle of the two components during operation, and the damage is small.

[0051] Referring to the accompanying drawings Figure 4 The natural length of the return spring 204 can reset the displacement plate 201, and the maximum elongation can meet the operation requirements. Therefore, the displacement plate 201 can be automatically reset under the action of the spring force, and the distance can be adjusted when the main diameter changes.

[0052] Referring to the accompanying drawings Figure 5 The rubber friction stick 305 has a metal shaft in the center and a rubber stick on the outside, and the shaft has a groove. Therefore, the structure is compact and reliable.

[0053] Referring to the accompanying drawings Figure 6 The tool fixing frame 501 has a threaded hole. Therefore, the installation is convenient.

[0054] Referring to the accompanying drawings Figure 6 The distance between the two tools can be adjusted through the slot hole of the tool fixing frame 501, and the fixing method is not limited to bolt fastening connection and adhesive connection. Therefore, the debugging is convenient, and the distance can be adjusted.

[0055] Referring to the accompanying drawings Figures 1-6 A method for removing old leaves of fruits and vegetables, characterized in that the method comprises the following steps:

[0056] S1: In the initial state, the distance-reducing mechanism 2 is in the closed state under the action of the return spring 204.

[0057] S2: The mechanical arm moves the fruit and vegetable old leaf removal device to a position where the end face is perpendicular to the growth direction of the main stem according to the main stem plane coordinate data provided by the monocular camera, and moves along the depth direction of the depth camera. When the photoelectric sensor 7 signal changes, stop after moving a certain distance.

[0058] S3: The electric push rod 101 retracts to drive the distance-expanding block 102 to retract, and the displacement plate 201 moves linearly along the second linear guide rail 203 under the action of the return spring 204 to close the distance-reducing mechanism. The rubber friction stick 305 and the special-shaped limiting block 503 contact the main stem of the plant to realize the righting, clamping and protection of the main stem.

[0059] S4: The fruit and vegetable old leaf device is driven by the mechanical arm to move upward by a certain distance, and the stepping motor 312 drives the rubber friction roller 305 to rotate at a certain speed to avoid pulling the main stem during the upward movement of the executor, and the flexible blade 502 contacts the side branch to cut the side branch and remove the old leaves.

[0060] S5: The extension block 102 is driven by the electric push rod 101 to move, so that the distance reduction mechanism is opened.

[0061] S6: The mechanical arm is retracted to return to the initial state, and waits for the next operation signal.

[0062] Therefore, the fruit and vegetable old leaf removal method can obtain the main stem depth information of the plant through the change of the photoelectric sensor signal, reduce the visual recognition burden, and improve the positioning accuracy; under the action of the special-shaped limiting block, the main stem of the plant changes with the position change of the old leaf removal device, so that the main stem is prevented from being damaged; the old leaf removal work of a single plant is realized from bottom to top at one time, and the work efficiency is improved.

[0063] Although the present application is disclosed as above, the present application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and the protection scope of the present application should be limited by the scope defined by the claims.

Claims

1. A device for removing old leaves from fruits and vegetables, characterized in that: The system includes an expanding mechanism (1), a contracting mechanism (2), a self-rotating friction roller I (3), a self-rotating friction roller II (4), a cutting tool I (5), a cutting tool II (6), a photoelectric sensor (7), a dust cover (8), and an outer frame (9). The expanding mechanism (1) is fixed to the top plate (903) of the outer frame (9), the contracting mechanism (2) is fixed to the top plate (903) of the outer frame (9), and the self-rotating friction roller I (3) and self-rotating friction roller II (4) are... The cutting blade I (5) and cutting blade II (6) are fixed on the distance reduction mechanism (2), the photoelectric sensor (7) is fixed on the distance reduction mechanism (2), and the dust cover (8) is fixed on the distance reduction mechanism (2); the self-rotating friction roller I (3) includes a shaft retaining ring I (301), a hole retaining ring I (302), a bearing I (303), a bearing seat I (304), a rubber friction roller (305), and a bearing seat II (306). Bearing II (307), shaft snap ring II (309), hole snap ring II (308), coupling (310), motor mounting bracket (311), stepper motor (312); rubber friction roller (305) is fixed to bearing housing I (304) and bearing II (307) by means of shaft snap ring I (301), hole snap ring I (302), shaft snap ring II (309), and hole snap ring II (308). Bearing housing I (304) and bearing II (307) are respectively The bearing is fixed to bearing housing I (304) and bearing housing II (306). The stepper motor (312) is fixed to the motor mounting bracket (311). The output shaft of the stepper motor (312) is fixed to the shaft of the rubber friction roller (305) by means of a coupling (310). The rubber friction roller (305) rotates at a constant speed under the drive of the stepper motor (312). The center of the rubber friction roller (305) is a metal shaft, the outer side is a rubber rod, and the shaft has a groove. The cutting tool I (5) includes a tool holder (501), a flexible blade (502), a shaped limiting block (503), and screws for fixing; the flexible blade (502) is between the tool holder (501) and the shaped limiting block (503) and is fixed to the tool holder (501) by screws; the tool holder (501) has a threaded hole; the tool holder (501) adjusts the distance between the two tools through the slot; the cutting tool I (5), the cutting tool II (6), the self-rotating friction roller I (3), and the self-rotating friction roller II (4) are in direct contact with the main stem through the shaped limiting block and the rubber friction roller under the action of the distance expansion mechanism (1) and the distance contraction mechanism (2).

2. The fruit and vegetable leaf removal device according to claim 1, characterized in that: The distance-expanding mechanism (1) includes an electric actuator (101), a distance-expanding block (102), a first slider (103), a first linear guide rail (104), a pad (105), and screws and nuts for fixing. One end of the distance-expanding block (102) is fixed to the electric actuator (101), and the other end is fixed to the first slider (103). The first slider (103) is fixed to the first linear guide rail (104). The electric actuator (101) drives the distance-expanding block (102) fixed on the first slider (103) to perform reciprocating linear motion along the first linear guide rail (104). The distance-expanding block (102) is an isosceles triangle with a flat angle at the tip, and the nut is embedded in the groove. The symmetrical planes of the electric actuator (101), the distance-expanding block (102), the first slider (103), the first linear guide rail (104), and the pad (105) coincide with each other.

3. The fruit and vegetable leaf removal device according to claim 2, characterized in that: The shortening mechanism (2) includes a shift plate (201), a second slider (202), a second linear guide (203), a return spring (204), and various fixing screws; the return spring (204) is fixed to the shift plate (201), the shift plate (201) is fixed to the second slider (202), and the second slider (202) is fixed to the second linear guide (203); under the action of the pushing force of the extending block (102) and the pulling force of the return spring (204), the shortening mechanism (2) causes the shift plate (201) fixed on the second slider (202) to reciprocate linearly along the second linear guide (203); the two shift plates (201) are symmetrical as a whole; the natural length of the return spring (204) can reset the shift plate (201), and the maximum elongation can meet the operational requirements.

4. The fruit and vegetable leaf removal device according to claim 3, characterized in that: The outer frame (9) includes a bottom plate (901), side plates (902) and a top plate (903).

5. The fruit and vegetable leaf removal device according to claim 4, characterized in that: The signal changes when the photoelectric sensor (7) detects the main stem.

6. A method for removing old leaves from fruits and vegetables, wherein the method employs the fruit and vegetable old leaf removal device as described in claim 5, characterized in that: The method includes the following steps: S1: In the initial state, the tension reduction mechanism (2) is in the closed state under the action of the return spring (204); S2: The robotic arm moves the old leaf removal device of the fruit and vegetable plant to a position perpendicular to the growth direction of the main stem based on the main stem plane coordinate data provided by the monocular camera, and moves along the depth direction of the depth camera. When the signal of the photoelectric sensor (7) changes, it moves a certain distance and then stops. S3: The electric push rod (101) retracts, thereby driving the expansion block (102) to retract. The shift plate (201) moves linearly along the second linear guide rail (203) under the action of the return spring (204), causing the expansion mechanism to close. The rubber friction roller (305) and the irregularly shaped limiting block (503) contact the main stem to achieve the straightening, clamping and protection of the main stem. S4: The robotic arm drives the fruit and vegetable leaf removal device to move upward a certain distance. At the same time, the stepper motor (312) drives the rubber friction roller (305) to rotate at a certain speed to avoid pulling on the main stem during the upward movement of the actuator. The side branches are cut and the old leaves are removed through the contact between the flexible blade (502) and the side branches. S5: The electric actuator (101) drives the expansion block (102) to move, causing the contraction mechanism to open; S6: The robotic arm retracts, returns to its initial state, and awaits the next work signal.

7. The method for removing old leaves from fruits and vegetables according to claim 6, characterized in that: By obtaining information about the depth of the plant's main stem through changes in photoelectric sensor signals, the burden of visual recognition is reduced and the positioning accuracy is improved. Under the action of the irregularly shaped limiting block, the main stem of the plant changes with the position of the old leaf removal device; Remove old leaves from a single plant in one go, from bottom to top.

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