Strawberry maturity identifying, picking and sorting integrated device

Abstract

The invention discloses a strawberry maturity identification and picking and sorting integrated device, which relates to the technical field of picking and sorting, and comprises walking wheels, a walking motor, a machine base, a sorting storage device, a lifting mechanism, a picking and sorting cavity, a sorting cache conveying mechanism and a light supplementing lamp, the strawberry picking device is reasonable and simple in structure, low in cost and convenient to mount, can easily move to a designated picking position by starting a walking motor, can accurately identify and pick strawberries by utilizing an identifying and picking mechanical arm and a related driving structure, can stably move upwards after picking, can efficiently sort and cache the strawberries by virtue of a reversing motor and the like, and can effectively pick and cache the strawberries after a sorting and caching groove is full of the strawberries. Through cooperative operation of multiple motors, the strawberries are smoothly conveyed to the sorting and storing device, accurate classified storage according to sizes is achieved, and the whole process is smooth and efficient.

Description

Technical Field

[0001] The invention relates to the technical field of strawberry picking and sorting, and in particular to an integrated device for strawberry maturity recognition and picking and sorting. Background Art

[0002] In the process of agricultural modernization, strawberry, as a popular fruit, has been planted on an ever-expanding scale. Traditional strawberry picking mainly relies on manual labor, and workers need to bend over for a long time to shuttle through strawberry planting areas. This is not only labor-intensive, but also extremely inefficient. According to statistics, the daily amount of manually picked strawberries is limited, and the picking efficiency fluctuates greatly due to factors such as the workers' proficiency and physical strength.

[0003] At the same time, manual picking has many shortcomings in maturity identification and sorting. The judgment of strawberry maturity mainly relies on the workers' experience, which lacks precision and is prone to picking unripe or overripe strawberries, affecting the quality and taste of the strawberries. In the sorting process, manual operation is slow and has low precision, making it difficult to achieve efficient and accurate classification by size and other specifications, which not only increases the subsequent processing costs, but also reduces the market competitiveness of strawberries.

[0004] With the continuous development of science and technology, although mechanized equipment has been introduced in some agricultural fields, there are still many technical bottlenecks in the special equipment for strawberry picking. For example, in the sorting and storage process, traditional equipment often has a single function and cannot achieve efficient sorting and classified storage based on multiple dimensions such as the size of the strawberries. This makes it easy for problems such as mixing and squeezing to occur during the processing of strawberries after picking.

[0005] Based on the above background, it is urgent to develop an integrated device for strawberry maturity identification and picking and sorting with a reasonable and simple structure, low production cost and easy installation. Summary of the invention

[0006] The purpose of the present invention is to provide an integrated device for strawberry maturity identification and picking and sorting in order to solve the above-mentioned problems, thereby solving the problems of low efficiency, poor precision and high cost in the traditional strawberry picking and sorting process.

[0007] In order to solve the above problems, the present invention provides a technical solution: an integrated device for strawberry maturity identification and picking and sorting, including an identification and picking mechanical arm, and also including walking wheels, a walking motor, a machine base, a sorting and storage device, a lifting mechanism, a picking and sorting cavity, a sorting and buffering conveying mechanism and a fill light; the front and rear interiors of the left and right lower sides of the machine base are fixedly connected with walking motors, and the outer output shafts of the walking motors are fixedly connected with walking wheels, the lower side of the machine base is provided with a picking and sorting cavity, and the rear side of the machine base is fixedly connected with a sorting and storage device; the left and right sides of the picking and sorting cavity are provided with lifting mechanisms, and the moving parts of the lifting mechanisms are fixedly connected with identification and picking mechanical arms, and the center of the lower side of the picking and sorting cavity is fixedly connected with a fill light; the sorting and buffering conveying mechanism is arranged on the upper side of the center of the picking and sorting cavity.

[0008] Preferably, the specific structure of the picking and storage device includes a support seat, a guide groove 1, a slide seat, a placement groove, a storage box, a long groove, a rack, a driving gear and a transverse motor; a transverse guide groove 1 is provided inside the upper side of the support seat, a transverse motor is fixedly connected to the center of the bottom of the support seat, and a driving gear is fixedly connected to the output shaft on the upper side of the transverse motor; the outer part of the slide seat is laterally movably connected to the inside of the guide groove 1, a plurality of transversely arranged placement grooves are provided on the slide seat, and storage boxes are provided inside the placement grooves, a transverse long groove is provided in the center of the lower side of the slide seat, and a rack is fixedly connected to the side of the long groove, and the rack is connected to the driving gear.

[0009] Preferably, the traverse motor is a servo motor or a stepper motor.

[0010] Preferably, the specific structure of the lifting mechanism includes a vertical motor, a second guide groove, a vertical screw and a lifting seat; the vertical motor is fixedly connected to the inside of the upper side of the seat; the second guide groove is vertically opened on the inner wall of the picking and sorting cavity, and the center of the second guide groove is movably connected with a vertical screw, and the upper center of the vertical screw is fixedly connected to the lower output shaft of the vertical motor; the outside of the lifting seat is movably connected to the inside of the second guide groove, and the threaded hole arranged in the center of the lifting seat is connected to the vertical screw, and the outer end of the lifting seat is fixedly connected with an identification and picking robot arm.

[0011] Preferably, the vertical motor is a servo motor or a stepper motor.

[0012] Preferably, the specific structure of the picking and caching conveying mechanism includes a reversing motor, a swivel, a picking and caching slot, a disc, a drop hole, a second driving gear, a switch motor, a driven gear, an output device, an output mounting slot and a drop port; there are two reversing motors, and the two reversing motors are respectively fixedly connected to the left and right sides of the center of the upper side of the machine base; there are two swivels, and the two swivels are respectively movably connected to the left and right sides of the center of the upper side of the picking and sorting cavity, and the upper centers of the two swivels are respectively fixedly connected to the corresponding lower output shafts of the reversing motors, and a number of picking and caching slots are arranged around the two swivels; there are two discs, and the two discs are respectively movably connected to the left and right sides of the center of the upper side of the picking and sorting cavity. The two discs are fixedly connected to the bottom surface of the corresponding swivel, and the centers of the lower sides of the two discs are fixedly connected with driven gears, and one side of the two discs is provided with a blanking hole; there are two switch motors, and the two switch motors are respectively fixedly connected to the left and right sides of the center of the picking and sorting cavity, and the upper output shafts of the two switch motors are fixedly connected with driving gears 2, and the driving gears 2 are respectively connected to the corresponding driven gears; the output mounting groove is longitudinally arranged inside the rear center of the machine base, and an output device is provided on the lower side of the output mounting groove, and blanking openings are provided on the left and right sides of the upper front side of the output mounting groove, and the upper opening of the blanking opening is connected to one side of the corresponding disc bottom surface.

[0013] Preferably, the specific structure of the output device includes an output trough, a conveying roller, a conveying belt and a conveying motor; there are two conveying rollers, and the two conveying rollers are movably connected at the front and rear positions inside the upper side of the output trough, and the two conveying rollers are connected by a conveyor belt; the conveying motor is fixedly connected to the right rear side of the output trough, and the left output shaft of the conveying motor is fixedly connected to the right center of the conveying roller on the rear side.

[0014] Preferably, the conveying motor is a servo motor or a stepping motor.

[0015] Preferably, the commutation motor and the switch motor are both servo motors or stepper motors.

[0016] The beneficial effects of the present invention are as follows: (1) The present invention has a reasonable and simple structure, low production cost, and is easy to install. By starting the travel motor to drive the travel wheel to rotate, the device can be easily moved to the designated picking position in the strawberry planting area, and the operation is convenient.

[0017] (2) The present invention utilizes an identification and picking robot arm and a related driving structure to accurately identify and pick the maturity and size of strawberries. After picking is completed, the vertical motor drives the vertical screw to rotate, thereby achieving smooth upward movement of the identification and picking robot arm.

[0018] (3) The present invention uses a reversing motor to drive the rotating body to rotate, and can rotate the corresponding sorting buffer slot to a suitable position according to the size of the strawberries, so as to facilitate the placement of picked strawberries and effectively improve the sorting efficiency.

[0019] (4) After the sorting buffer slot is filled with strawberries, the present invention uses the coordinated operation of the reversing motor and the switch motor to allow the strawberries to smoothly fall into the conveyor belt of the output device, and then the conveying motor drives the conveyor belt to transport the strawberries to the sorting storage device. The entire conveying process is smooth and efficient.

[0020] (5) The sorting and storage device of the present invention drives the driving gear and the rack to move through the transverse motor, and can move the corresponding storage box to the outlet of the output device according to the size of the strawberry, so as to facilitate the subsequent removal of the sorted strawberries and realize accurate sorting and storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 for Figure 1 sectional view of .

[0023] Figure 3 It is a structural schematic diagram of the sorting and storage device.

[0024] Figure 4 It is a structural diagram of the lifting mechanism.

[0025] Figure 5 It is a structural diagram of the picking, buffering and conveying mechanism.

[0026] Figure 6 A schematic diagram of the structure of the output device.

[0027] 1-Identification and picking mechanical arm; 2-Traveling wheel; 3-Traveling motor; 4-Machine base; 5-Sorting and picking storage device; 6-Lifting mechanism; 7-Picking and sorting chamber; 8-Sorting and picking buffer conveying mechanism; 9-Filling light; 51-Support seat; 52-Guide slot 1; 53-Sliding seat; 54-Placing slot; 55-Storage box; 56-Long slot; 57-Rack; 58-Driving gear; 59-Transverse motor; 61-Vertical motor; 62 -guide groove 2; 63-vertical screw; 64-lifting seat; 81-reversing motor; 82-rotating body; 83-sorting and buffering groove; 84-disc; 85-dropping hole; 86-driving gear 2; 87-switch motor; 88-driven gear; 89-output device; 810-output mounting groove; 811-dropping port; 891-output trough body; 892-conveying roller; 893-conveying belt; 894-conveying motor. DETAILED DESCRIPTION

[0028] like Figure 1 and Figure 2As shown, this specific embodiment adopts the following technical scheme: an integrated device for strawberry maturity identification and picking and sorting, including an identification and picking mechanical arm 1, and also including walking wheels 2, a walking motor 3, a machine base 4, a sorting and storage device 5, a lifting mechanism 6, a picking and sorting cavity 7, a sorting and caching conveying mechanism 8 and a fill light 9; the front and rear interiors of the left and right lower sides of the machine base 4 are fixedly connected with the walking motor 3, and the outer output shaft of the walking motor 3 is fixedly connected with the walking wheel 2, the lower side of the machine base 4 is provided with a picking and sorting cavity 7, and the rear side of the machine base 4 is fixedly connected with the sorting and storage device 5; the left and right sides of the picking and sorting cavity 7 are provided with lifting mechanisms 6, and the moving parts of the lifting mechanisms 6 are fixedly connected with the identification and picking mechanical arm 1, and the center of the lower side of the picking and sorting cavity 7 is fixedly connected with the fill light 9; the sorting and caching conveying mechanism 8 is arranged on the upper side of the center of the picking and sorting cavity 7.

[0029] like Figure 3 As shown, the specific structure of the picking and storage device 5 includes a support seat 51, a guide groove 52, a slide 53, a placement groove 54, a storage box 55, a long groove 56, a rack 57, a driving gear 58 and a transverse motor 59; a transverse guide groove 52 is provided inside the upper side of the support seat 51, a transverse motor 59 is fixedly connected to the bottom center of the support seat 51, and a driving gear 58 is fixedly connected to the output shaft on the upper side of the transverse motor 59; the outside of the slide 53 is laterally movably connected to the inside of the guide groove 52, a plurality of transversely arranged placement grooves 54 are opened on the slide 53, and storage boxes 55 are arranged inside the placement grooves 54, a transverse long groove 56 is opened in the center of the lower side of the slide 53, and a rack 57 is fixedly connected to the side of the long groove 56, and the rack 57 is connected to the driving gear 58.

[0030] The transverse movement motor 59 is a servo motor or a stepper motor, so that the transverse movement motor 59 can be easily controlled by existing automation technology.

[0031] like Figure 4 As shown, the specific structure of the lifting mechanism 6 includes a vertical motor 61, a guide groove 62, a vertical screw 63 and a lifting seat 64; the vertical motor 61 is fixedly connected to the inside of the upper side of the machine base 4; the guide groove 62 is vertically opened on the inner wall of the picking and sorting cavity 7, and the guide groove 62 is movably connected to the center of the vertical screw 63, and the upper center of the vertical screw 63 is fixedly connected to the lower output shaft of the vertical motor 61; the lifting seat 64 is externally movably connected to the inside of the guide groove 62, and the threaded hole arranged in the center of the lifting seat 64 is connected to the vertical screw 63, and the outer end of the lifting seat 64 is fixedly connected to the identification and picking robot arm 1.

[0032] The vertical motor 61 is a servo motor or a stepping motor, so that the vertical motor 61 can be easily controlled by existing automation technology.

[0033] like Figure 5 As shown, the specific structure of the picking and caching conveying mechanism 8 includes a reversing motor 81, a swivel 82, a picking and caching slot 83, a disc 84, a material drop hole 85, a driving gear 86, a switch motor 87, a driven gear 88, an output device 89, an output mounting slot 810 and a material drop port 811; there are two reversing motors 81, and the two reversing motors 81 are respectively fixedly connected to the left and right sides of the upper center of the base 4; there are two swivels 82, and the two swivels 82 are respectively movably connected to the left and right sides of the upper center of the picking and sorting cavity 7, and the upper centers of the two swivels 82 are respectively fixedly connected to the corresponding lower output shafts of the reversing motor 81, and the two swivels 82 are provided with a plurality of picking and caching slots 83 around them; there are two discs 84, and the two discs 84 are respectively It is movably connected to the bottom surface of the corresponding swivel 82, and the two disks 84 are fixedly connected to the center of the lower side with a driven gear 88, and one side of the two disks 84 is provided with a blanking hole 85; there are two switch motors 87, and the two switch motors 87 are respectively fixedly connected to the left and right sides of the center of the picking and sorting cavity 7, and the upper output shafts of the two switch motors 87 are fixedly connected with a driving gear 2 86, and the driving gear 2 86 is respectively connected to the corresponding driven gear 88; the output mounting groove 810 is longitudinally arranged inside the central rear side of the machine base 4, and an output device 89 is provided on the lower side of the output mounting groove 810, and blanking holes 811 are opened on the left and right sides of the upper front side of the output mounting groove 810, and the upper opening of the blanking hole 811 is connected to one side of the bottom surface of the corresponding disk 84.

[0034] like Figure 6 As shown, the specific structure of the output device 89 includes an output trough 891, a conveying roller 892, a conveying belt 893 and a conveying motor 894; there are two conveying rollers 892, and the two conveying rollers 892 are movably connected to the front and rear positions inside the upper side of the output trough 891, and the two conveying rollers 892 are connected by a conveying belt 893; the conveying motor 894 is fixedly connected to the right rear side of the output trough 891, and the left output shaft of the conveying motor 894 is fixedly connected to the right center of the conveying roller 892 on the rear side.

[0035] Among them, the conveying motor 894 is a servo motor or a stepper motor, which makes it easy to control the conveying motor 894 through existing automation technology; the reversing motor 81 and the switch motor 87 are both servo motors or stepper motors, which makes it easy to control the reversing motor 81 and the switch motor 87 through existing automation technology.

[0036] The use state of the present invention is as follows: the present invention has a reasonable and simple structure, low production cost and convenient installation. When in use, first start the travel motor 3, and its outer output shaft drives the travel wheel 2 to rotate, so that the machine base 4 moves, and the strawberry maturity identification and picking and sorting integrated device is moved to the position where the strawberry is needed to be picked in the strawberry planting area. When it reaches the specified position, the identification and picking mechanical arm 1 starts to work, identifies the maturity and size of the strawberry, and then picks the ripe strawberries. The identification and picking mechanical arm 1 is installed at the outer end of the lifting seat 64, and the lifting seat 64 is connected to the vertical screw 63 through a threaded hole. The vertical screw 63 is driven by the vertical motor 61. After the picking is completed, the vertical motor 61 is started, driving the vertical screw 63 to rotate, so that the lifting seat 64 rises along the guide groove 62, thereby driving the identification and picking mechanical arm 1 to move up. At the same time, the reversing motor 81 works, and its lower output shaft drives the swivel 82 to rotate, and the corresponding sorting buffer slot 83 is rotated to a suitable placement position according to the size of the strawberry, so that the identification and picking mechanical arm 1 can place the picked strawberries to the corresponding When the picking buffer slot 83 is full of strawberries, the reversing motor 81 is first started to rotate the picking buffer slot 83 full of strawberries to the upper side of the drop opening 811, and then the switch motor 87 is started, and the driving gear 86 on its output shaft drives the driven gear 88 to rotate, thereby rotating the disc 84. When the drop opening 85 on the disc 84 is located on the upper side of the drop opening 811, it is convenient for the strawberries to pass through the drop opening 85 and the drop opening 811 and fall onto the conveyor belt 893 in the output device 89. The output device 89 is driven by The conveying motor 894 is driven, and the left output shaft of the conveying motor 894 drives the conveying roller 892 on the rear side to rotate, thereby driving the conveyor belt 893 to run. The conveyor belt 893 transports the strawberries to the upper side of the sorting and storage device 5, and the transverse movement motor 59 in the sorting and storage device 5 is started. The active gear 58 on its output shaft drives the rack 57 to move, so that the slide 53 moves laterally in the guide groove 52, and the corresponding storage box 55 is moved to the exit of the output device 89 according to the size of the strawberry, so as to facilitate the subsequent removal of the classified strawberries of different sizes.

[0037] The control method in the present invention is to start manually or control through existing automation technology. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and wiring layout in detail.

[0038] In the description of the invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0039] In the invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the invention according to the specific circumstances.

[0040] The above shows and describes the basic principles, main features and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the invention. Without departing from the spirit and scope of the invention, the invention may have various changes and improvements, which shall fall within the scope of the invention to be protected. The scope of protection of the invention shall be defined by the attached claims and their equivalents.

Claims

1. An integrated device for strawberry maturity identification and picking and sorting, comprising an identification and picking mechanical arm (1), characterized in that: It also includes walking wheels (2), a walking motor (3), a machine base (4), a sorting and storing device (5), a lifting mechanism (6), a picking and sorting cavity (7), a sorting and caching conveying mechanism (8) and a fill light (9); Travel motors (3) are fixedly connected to the front and rear interiors of the left and right lower sides of the machine base (4), and travel wheels (2) are fixedly connected to the outer output shafts of the travel motors (3). A picking and sorting cavity (7) is provided inside the lower side of the machine base (4), and a sorting and storing device (5) is fixedly connected to the rear side of the machine base (4); The left and right sides of the picking and sorting chamber (7) are both provided with lifting mechanisms (6), and the moving parts of the lifting mechanisms (6) are both fixedly connected to the identification and picking mechanical arms (1), and the center of the lower side of the picking and sorting chamber (7) is fixedly connected to a fill light (9); The picking and buffering conveying mechanism (8) is arranged on the upper central side of the picking and sorting cavity (7).

2. The strawberry maturity identification and picking and sorting integrated device according to claim 1, characterized in that: The specific structure of the picking and storing device (5) includes a support base (51), a guide groove (52), a slide base (53), a placement groove (54), a storage box (55), a long groove (56), a rack (57), a driving gear (58) and a transverse movement motor (59); A transverse guide groove (52) is provided inside the upper side of the support seat (51); a transverse motor (59) is fixedly connected to the center of the bottom of the support seat (51); and a driving gear (58) is fixedly connected to the output shaft on the upper side of the transverse motor (59); The outside of the slide seat (53) is movably connected to the inside of the guide groove (52) in a transverse manner. A plurality of transversely arranged placement grooves (54) are provided on the slide seat (53), and storage boxes (55) are provided inside the placement grooves (54). A transverse long groove (56) is provided in the center of the lower side of the slide seat (53), and a rack (57) is fixedly connected to the side of the long groove (56), and the rack (57) is connected to a driving gear (58).

3. The strawberry maturity identification and picking and sorting integrated device according to claim 2, characterized in that: The traverse motor (59) is a servo motor or a stepper motor.

4. The strawberry maturity identification and picking and sorting integrated device according to claim 1, characterized in that: The specific structure of the lifting mechanism (6) includes a vertical motor (61), a second guide groove (62), a vertical screw rod (63) and a lifting seat (64); The vertical motor (61) is fixedly connected to the interior of the upper side of the machine base (4); The second guide groove (62) is vertically opened on the inner wall of the picking and sorting chamber (7), a vertical screw rod (63) is movably connected to the center of the second guide groove (62), and the upper center of the vertical screw rod (63) is fixedly connected to the lower output shaft of the vertical motor (61); The outside of the lifting seat (64) is movably connected to the inside of the second guide groove (62); a threaded hole arranged in the center of the lifting seat (64) is connected to the vertical screw rod (63); and the outer end of the lifting seat (64) is fixedly connected to an identification and picking mechanical arm (1).

5. The strawberry maturity identification and picking and sorting integrated device according to claim 4, characterized in that: The vertical motor (61) is a servo motor or a stepping motor.

6. The strawberry maturity identification and picking and sorting integrated device according to claim 1, characterized in that: The specific structure of the picking and caching conveying mechanism (8) comprises a reversing motor (81), a rotating body (82), a picking and caching slot (83), a disc (84), a material drop hole (85), a second driving gear (86), a switch motor (87), a driven gear (88), an output device (89), an output mounting slot (810) and a material drop opening (811); There are two reversing motors (81), and the two reversing motors (81) are respectively fixedly connected to the inside of the left and right sides of the center of the upper side of the machine base (4); There are two rotating bodies (82), and the two rotating bodies (82) are movably connected to the left and right sides of the upper center of the picking and sorting chamber (7), and the upper centers of the two rotating bodies (82) are fixedly connected to the lower output shafts of the corresponding reversing motors (81), and a plurality of sorting buffer slots (83) are arranged around the two rotating bodies (82); There are two circular discs (84), and the two circular discs (84) are respectively movably connected to the bottom surface of the corresponding rotating body (82). A driven gear (88) is fixedly connected to the center of the lower side of the two circular discs (84), and a material drop hole (85) is opened on one side of the two circular discs (84); There are two switch motors (87), and the two switch motors (87) are respectively fixedly connected to the left and right sides of the center of the picking and sorting chamber (7), and the upper output shafts of the two switch motors (87) are both fixedly connected to the second driving gear (86), and the second driving gear (86) is respectively connected to the corresponding driven gear (88); The output installation groove (810) is longitudinally arranged inside the central rear side of the machine base (4); an output device (89) is arranged at the lower side of the output installation groove (810); and blanking openings (811) are provided on both left and right sides of the upper front side of the output installation groove (810), and the upper opening of the blanking opening (811) is connected to one side of the bottom surface of the corresponding disc (84).

7. The strawberry maturity identification and picking and sorting integrated device according to claim 6, characterized in that: The specific structure of the output device (89) includes an output trough (891), a conveying roller (892), a conveying belt (893) and a conveying motor (894); There are two conveying rollers (892), and the two conveying rollers (892) are movably connected to the front and rear positions inside the upper side of the output trough (891), and the two conveying rollers (892) are connected via a conveyor belt (893); The conveying motor (894) is fixedly connected to the right rear side of the output trough (891), and the left output shaft of the conveying motor (894) is fixedly connected to the right center of the rear conveying roller (892).

8. The strawberry maturity identification and picking and sorting integrated device according to claim 7, characterized in that: The conveying motor (894) is a servo motor or a stepping motor.

9. The strawberry maturity identification and picking and sorting integrated device according to claim 6, characterized in that: The reversing motor (81) and the switch motor (87) are both servo motors or stepper motors.

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