Automatic strawberry picking machine

Abstract

The invention relates to the field of agricultural machinery production, in particular to an automatic strawberry picking machine which comprises a vehicle body, and double guide rails arranged in a rectangular array are arranged on the vehicle body; the moving plate is connected to the double guide rails in a sliding manner; according to the strawberry stem conveying device, the rapid transfer assembly is arranged, the electric push rod pushes the sliding block base to stretch out, and a channel formed by the two first belts makes contact with strawberry stems. The transmission roller drives the cutter head to rotate, the first cutting knife and the second cutting knife cooperate to quickly cut off fruit stems, the fruit stems are conveyed to the collecting box by the belt channel, and meanwhile, the first visual sensor continues to track the next target to form a continuous picking cycle. The time for the mechanical arm to turn over back and forth is shortened, rapid positioning, cutting and transferring of the strawberries are achieved, and the picking efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery production, and specifically to a strawberry automatic picking machine. Background Art

[0002] Strawberry fruits are tender and need to be harvested in time after ripening. However, with the aging of the rural population, the shortage of labor during the harvesting period and the heavy harvesting work have become increasingly prominent. Therefore, researching strawberry robot picking technology is of great significance for reducing the labor intensity of picking and alleviating the shortage of seasonal labor, promoting the role of robot technology in changing the backward production operation mode, and promoting the modernization of agriculture.

[0003] A strawberry picking robot is an automated picking system based on robot technology and intelligent control technology. It uses various technical means such as visual recognition, robot positioning, and grippers to autonomously complete tasks such as strawberry recognition, picking, and classification. Compared with the traditional manual picking method, an automatic picking robot has the advantages of high picking efficiency, stable picking quality, and reduced labor costs.

[0004] Existing strawberry automatic picking robots have certain defects during use: when picking strawberries, the strawberry picking robot locates the strawberries through a visual sensor, then cuts the fruit stalks of the strawberries through the gripper of the robotic arm, and then the robotic arm drives the cut strawberries to be placed on the collection box, and then continues to pick the next strawberry. This picking operation requires individual positioning, the robotic arm to flip back and forth, and pick strawberries, with a long action cycle and low picking efficiency; secondly, during the use of the gripper of the robotic arm, if the forces applied to each part are uneven, the irregularly shaped strawberries will be locally under greater pressure while other parts are under less force, which easily causes local damage to the strawberries and increases the damage rate of the strawberries.

[0005] Therefore, it is necessary to propose a strawberry automatic picking machine to solve the above technical problems. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides a strawberry automatic picking machine, which solves the problems of low picking efficiency (requiring individual positioning and the robotic arm to flip back and forth resulting in a long action cycle) and high strawberry damage rate (uneven forces of the robotic arm gripper causing local damage to irregularly shaped strawberries) existing in existing strawberry automatic picking robots.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0008] The technical solution adopted by the present invention to solve its technical problems is: a strawberry automatic picking machine, comprising:

[0009] Vehicle body, on which double guide rails are arranged in a rectangular array;

[0010] Moving plate, which is slidably connected to the double guide rails;

[0011] Rotating disc, which is movably arranged back and forth on the double guide rails and is rotatably connected under the moving plate;

[0012] Support frame, which is symmetrically arranged at the bottom of the rotating disc;

[0013] Quick transfer assembly, which is arranged between the two support frames and is used for cutting strawberries when aligning with strawberry targets and transporting the strawberries to the destination position;

[0014] Collection box, which is arranged under the support frame;

[0015] Quick separation assembly, which is arranged under the support frame and is used for separating the transported strawberries into the collection box.

[0016] Preferably, the quick transfer assembly includes:

[0017] Rotating frame, which is in a long block structure with an opening facing downward and is rotatably connected between the support frames;

[0018] First vision sensor, which is installed obliquely below the rotating frame and is used for detecting the position of strawberries;

[0019] Electric push rod, which is installed obliquely above the rotating frame;

[0020] Slider seat, which is connected by a slide rail inside the rotating frame, and the moving end of the electric push rod is fixedly connected to one side of the slider seat;

[0021] Transfer plates, two in number, and the whole is in a "mountain" - shaped structure. The two transfer plates are symmetrically installed at the end of the slider seat away from the electric push rod;

[0022] Drive roller wheels, two groups in number, and one group is divided into three. The two groups of drive roller wheels are rotatably connected at the three vertical ends on the transfer plates. The drive roller wheels at the front end rotate in the forward direction, and the drive roller wheels at the rear end rotate in the reverse direction;

[0023] First belts, two groups in number, and are connected to the drive roller wheels for transmission. A channel for conveying fruit stalks is formed between the two first belts;

[0024] Cutting discs, which are in a circular structure, two in number, and the two cutting discs are rotatably connected to one of the vertical ends of the transfer plate. One end of one of the drive roller wheels rotates through the transfer plate and is fixedly connected to the cutting disc.

[0025] Preferably, a first cutting knife and a second cutting knife are respectively installed on the outer sides of the knife discs at the front and rear ends, and the first cutting knife and the second cutting knife are both in the shape of curved teeth, with one end of the curved teeth of the first cutting knife facing forward, and one end of the curved teeth of the second cutting knife facing reverse.

[0026] Preferably, a guide plate is installed at one end of the two transfer plates away from the rotating frame, and the guide plate is in a V-shaped structure. An "eight"-shaped structure is formed between one ends of the two guide plates, and the eight-shaped structure on the two guide plates faces the direction of the channel.

[0027] Preferably, the first cutting knife and the second cutting knife are not on the same horizontal plane, and the first cutting knife and the second cutting knife form an intersection point on the same vertical plane.

[0028] Preferably, a fixed plate is installed at one end of the top of the two transfer plates, and the end of the fixed plate close to the cutter disc is rotatably connected to a guide wheel, a guide rod is installed on the outer side of the guide wheel, and guide rollers are installed on the opposite ends of the cutter disc and the guide wheel, and the outer sides of the guide rollers of the cutter disc and the guide wheel are transmission-connected with a second belt.

[0029] Preferably, the quick-release assembly comprises:

[0030] The arc cover is a hemispherical structure with a circular groove inside the hemispherical structure. The arc cover is arranged in an inclined shape below the transfer plate.

[0031] The guide groove is symmetrically arranged on the top of the arc-shaped cover to guide the movement of the fruit stalk;

[0032] A fruit handle groove is provided between the symmetrical guide grooves and is connected with the guide grooves;

[0033] The reciprocating pushing component is arranged below the transfer plate and is used for quickly pushing the strawberries away from the fruit stems.

[0034] Preferably, an air bag adapted to the circular groove is installed inside the fruit stalk groove, a second visual sensor is installed on one side of the fruit stalk groove, an air pressure regulator is arranged below the transfer plate, and the outlet end of the air pressure regulator is fixedly connected to the interior of the air bag through a pipe.

[0035] Preferably, the reciprocating push-off assembly comprises:

[0036] There are two reciprocating seats, which are connected to the transfer plate through a slide rail.

[0037] An L-shaped rod, the vertical end of which is installed below the reciprocating seat, and the horizontal end of which is fixedly connected to the arc cover;

[0038] A U-shaped block, which is installed below the reciprocating seat;

[0039] A rotating disk, which is fixedly connected below one of the driving roller wheels;

[0040] A connecting block, which is rotatably connected below the rotating disk, and the other end thereof is rotatably connected to the horizontal end of the U-shaped block;

[0041] A connecting rod, the middle part of which is fixedly connected to the air pressure regulator, and the front and rear ends thereof are fixedly connected to the vertical ends of the U-shaped block.

[0042] The present invention has achieved the following beneficial effects:

[0043] (1) By setting up a fast transfer component in the present invention, the slider seat is pushed out by the electric push rod, so that the channels formed by the two groups of first belts contact the strawberry stalks. The driving roller wheel drives the cutter head to rotate, and the first cutting knife and the second cutting knife cooperate to quickly cut off the stalks. The stalks are conveyed to the collection box by the belt channels. At the same time, the first vision sensor continues to track the next target, forming a continuous picking cycle. By the way of squeezing the stalks by the belts in the fast transfer component, the present invention reduces the time for the robotic arm to flip back and forth, realizes the fast positioning, cutting and transfer of strawberries, and significantly improves the picking efficiency.

[0044] (2) By setting up a fast separation component in the present invention, an airbag adapted to the circular groove is installed inside the stalk groove, and the air intake of the airbag is controlled by the air pressure regulator. When the strawberry is located in the circular groove of the arc-shaped cover, the airbag expands to apply pressure to the stalk, separating the stalk from the strawberry, reducing the damage to the strawberry during the separation process. By judging the shape of the strawberry through the second vision sensor and adjusting the air intake of the airbag accordingly, the personalized treatment of strawberries of different sizes is realized. For larger strawberries, a smaller air intake means a smaller pressure, preventing the large strawberries from being damaged due to excessive pressure. For smaller strawberries, a larger air intake generates a larger pressure to ensure that the stalks can be separated smoothly.

[0045] (3) By setting up a reciprocating pushing and separating component including a reciprocating seat, an L-shaped rod, a U-shaped block, a rotating disk and a connecting rod in the present invention, the rotating disk drives the U-shaped block to make a horizontal reciprocating motion through the connecting block, and the U-shaped block drives the arc-shaped cover to make a reciprocating pushing and separating motion, enhancing the pressure of the airbag on the stalk. Especially for some stalks with relatively tight connections, the reciprocating motion can increase the separation strength and effect, ensuring that the stalks can be separated smoothly. Moreover, for those strawberries with inclined or irregularly positioned stalks, the reciprocating pushing and separating can make the airbag contact the stalks more comprehensively and apply appropriate pressure, improving the adaptability of the picking machine to strawberries in different growth states. Description of the Drawings

[0046] The present invention will be further described below in conjunction with the drawings and embodiments.

[0047] Figure 1 Schematic diagram of the overall structure of the present invention;

[0048] Figure 2 Schematic diagram of the structure of the present invention;

[0049] Figure 3 Schematic diagram of the structure of the present invention;

[0050] Figure 4 Schematic diagram of the structure of the present invention;

[0051] Figure 5 Schematic diagram of the structure of the present invention;

[0052] Figure 6 Schematic diagram of the structure of the present invention;

[0053] Figure 7 Schematic diagram of the structure of the present invention;

[0054] Figure 8 Schematic diagram of the structure of the present invention.

[0055] Reference numerals in the figure: 1, vehicle body; 11, double guide rails; 12, moving plate; 13, turntable; 14, support frame; 15, collection box; 2, rapid transfer assembly; 21, rotating frame; 22, first vision sensor; 23, electric push rod; 24, slider seat; 25, transfer plate; 26, drive roller; 27, first belt; 28, cutter head; 281, first cutting knife; 282, second cutting knife; 29, guide plate; 211, fixed plate; 212, guide wheel; 213, guide roller; 214, second belt; 221, rapid separation assembly; 222, arc-shaped cover; 223, guide groove; 224, fruit stalk groove; 225, airbag; 226, second vision sensor; 227, air pressure regulator; 231, reciprocating push-off assembly; 232, reciprocating seat; 233, L-shaped rod; 234, U-shaped block; 235, rotating disk; 236, connecting block; 237, connecting rod. Detailed implementation manners

[0056] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0057] As Figures 1-5As shown in the figure, a strawberry automatic picking machine includes a vehicle body 1. On the vehicle body 1, double guide rails 11 arranged in a rectangular array are provided. A hydraulic telescopic rod for driving the double guide rails 11 to lift is installed on the vehicle body 1; a moving plate 12 is slidably connected to the double guide rails 11, and a turntable 13 is movably arranged on the double guide rails 11 in the front and rear directions. The turntable 13 is rotatably connected below the moving plate 12. An angle motor for controlling the rotation of the turntable 13 is installed on the moving plate 12; a support frame 14 is symmetrically arranged at the bottom of the turntable 13; a quick transfer assembly 2 is arranged between the two support frames 14, which is used for cutting strawberries when aligning with the strawberry target and transporting the strawberries to the target position; a collection box 15 is arranged below the support frame 14; the quick transfer assembly 2 includes: a rotating frame 21, which has a long block-shaped structure with an opening facing downward. The rotating frame 21 is rotatably connected between the support frames 14. A control motor for driving the rotating frame 21 to rotate at different angles is installed on the support frame 14; a first vision sensor 22 is installed obliquely below the rotating frame 21 for detecting the position of the strawberries; an electric push rod 23 is installed obliquely above the rotating frame 21; a slider seat 24 is connected inside the rotating frame 21 through a slide rail. The moving end of the electric push rod 23 and one side of the slider seat 24 are fixedly connected; there are two transfer plates 25, and the overall structure is in the shape of a "mountain". The two transfer plates 25 are symmetrically installed at one end of the slider seat 24 away from the electric push rod 23; there are two groups of driving roller wheels 26, and each group is divided into three. The two groups of driving roller wheels 26 are rotatably connected to the three vertical ends on the transfer plate 25. A controller for driving one of the driving roller wheels 26 to rotate is installed inside the slider seat 24. The driving roller wheel 26 at the front end rotates forward, and the driving roller wheel 26 at the rear end rotates reversely; there are two groups of first belts 27, which are connected to the driving roller wheels 26. A channel for conveying the fruit stalks is formed between the two first belts 27; a cutter head 28 has a circular structure, and there are two cutter heads 28. Both cutter heads 28 are rotatably connected to one of the vertical ends of the transfer plate 25. One end of one of the driving roller wheels 26 rotates through the transfer plate 25 and is fixedly connected to the cutter head 28.

[0058] It should be noted that: First, when strawberries need to be picked, the control machine starts, driving the transmission roller 26 to rotate. Through the cooperation of the first belt 27, the transmission roller 26 starts to rotate. The hydraulic telescopic rod drives the double guide rails 11 to rise and fall to an appropriate height to ensure that the robotic arm can accurately reach the position of the strawberries. After the first vision sensor 22 detects the position of the strawberries, the angle motor drives the support frame 14 to rotate, and the control motor drives the rotating frame 21 to rotate to an appropriate angle. The electric push rod 23 drives the slider seat 24 to extend inside the rotating frame 21, so that the channel between the two rotating belts contacts along the fruit stalk of the strawberry. The fruit stalk moves under the extrusion of the belt. At the same time, when the transmission roller 26 rotates, it drives the cutter head 28 to rotate, and the cutter head 28 cuts the fruit stalk. The cut fruit stalk is moved by the channel on the belt and transferred to the collection box 15. During the cutting process, the first vision sensor 22 continues to track the next target, forming a continuous picking cycle, thereby improving the picking efficiency;

[0059] Through the design of the rapid transfer component 2, the rapid positioning, cutting and transfer of strawberries are realized, the time for the robotic arm to flip back and forth is reduced, the picking efficiency is significantly improved, and the method of squeezing the fruit stalk by the belt is adopted to avoid the problem of uneven force exerted on the strawberries by the traditional robotic arm gripper, reduce the risk of local damage to the strawberries, and reduce the damage rate of the strawberries;

[0060] As Figure 6 shown in the figure, a first cutting knife 281 and a second cutting knife 282 are respectively installed on the outer sides of the cutter heads 28 at the front and rear ends, and both the first cutting knife 281 and the second cutting knife 282 are in the shape of curved teeth. The curved tooth-shaped end of the first cutting knife 281 is arranged in the forward direction, and the curved tooth-shaped end of the second cutting knife 282 is arranged in the reverse direction.

[0061] It should be noted that: When the first cutting knife 281 arranged in the forward direction and the second cutting knife 282 arranged in the reverse direction rotate, they can smoothly guide and push the fruit stalk along the channel, avoid the deviation or jamming of the fruit stalk during the cutting process, and the cutting knife in the shape of curved teeth can cut into the fruit stalk more effectively, reduce the resistance during cutting, and improve the cutting efficiency.

[0062] Guide plates 29 are installed at the ends of the two transfer plates 25 far away from the rotating frame 21. The guide plates 29 are in a V-shaped structure. An "eight" - shaped structure is formed between one ends of the two guide plates 29, and the eight - shaped structure on the two guide plates 29 faces the channel direction.

[0063] It should be noted that the opening of the "eight"-shaped structure is relatively large, which can increase the capture range of the strawberry stem. When the robot arm approaches the strawberry, the stem is more easily captured by the "eight"-shaped opening of the guide plate 29, and then smoothly enters the channel for conveying the stem formed between the two first belts 27 along the V-shaped slope of the guide plate 29, thereby improving the accuracy and success rate of the stem entering the channel and reducing the situation where the stem misses the channel or deviates.

[0064] like Figure 6 As shown in the figure, the first cutting knife 281 and the second cutting knife 282 are not on the same horizontal plane, and the first cutting knife 281 and the second cutting knife 282 form an intersection on the same vertical plane.

[0065] It should be noted that: during the cutting process, the first cutting knife 281 first contacts a certain part of the fruit stalk for cutting, and then the second cutting knife 282 cuts in from another height. The synergistic effect of the two cutting knives can cut off the fruit stalk more quickly and thoroughly, thereby improving the cutting efficiency.

[0066] like Figures 5-6 As shown in the figure, a fixed plate 211 is installed at one end of the top of the two transfer plates 25, and the end of the fixed plate 211 close to the cutter disc 28 is rotatably connected to a guide wheel 212, and a guide rod is installed on the outer side of the guide wheel 212. Guide rollers 213 are installed on the opposite ends of the cutter disc 28 and the guide wheel 212, and the outer sides of the guide rollers 213 of the cutter disc 28 and the guide wheel 212 are transmission-connected to a second belt 214.

[0067] It should be noted that: during the rotation of the blade disc 28, the second belt 214 is connected to the guide roller 213 on the outside of the guide wheel 212 to transmit power to the guide wheel 212. When the strawberry stalks are transmitted to the area between the two transfer plates 25, the guide wheel 212 and the guide rod on its outside can play a preliminary guiding role on the stalks, guiding the stalks to move toward the blade disc 28. The guide wheel 212 and the guide rod provided in the present invention can better guide the stalks into the cutting area, ensuring that the stalks are accurately within the cutting range of the blade disc 28, reducing the inaccurate cutting or cutting failure caused by the position deviation of the stalks, and improving the success rate and quality of cutting.

[0068] like Figure 2 , Figure 7 and Figure 8As shown in the figure, the quick separation component 221 is arranged below the support frame 14 and is used to separate the transported strawberries into the inside of the collection box 15. The quick separation component 221 includes an arc-shaped cover 222, which has a hemispherical structure, and a circular groove is opened inside the hemispherical shape. The arc-shaped cover 222 is arranged obliquely below the transfer plate 25; a guide groove 223, which is symmetrically opened at the top of the arc-shaped cover 222 and is used to guide the movement of the fruit stalk; a fruit stalk groove 224, which is opened between the symmetrically arranged guide grooves 223 and is communicated with the guide groove 223.

[0069] When the strawberry fruit stalk moves along with the conveying structure on the transfer plate 25, since the fruit stalk has a vertical structure, it will first contact the guide grooves 223 symmetrically opened at the top of the arc-shaped cover 222. The special shape and position design of the guide grooves 223 can guide the fruit stalk to move along a specific trajectory and make it smoothly enter the fruit stalk groove 224. In this process, the guide grooves 223 play a role in accurately positioning the fruit stalk. After the fruit stalk enters the fruit stalk groove 224, the belt on the transfer plate 25 will continue to push the fruit stalk to move, and then drive the strawberry connected to the fruit stalk to gradually approach the arc-shaped cover 222. As the fruit stalk continues to move, the strawberry is brought into the circular groove inside the hemispherical structure of the arc-shaped cover 222. The arc-shaped cover 222 plays a role in wrapping the strawberry, making it maintain a relatively stable position during the process of separating the fruit stalk, avoiding large swings or drops of the strawberry during separation, and reducing the possibility of damage to the strawberry caused by collision, extrusion, etc. during the picking process.

[0070] As Figures 7-8 shown in the figure, an airbag 225 adapted to the circular groove is installed inside the fruit stalk groove 224. A second vision sensor 226 is installed on one side of the fruit stalk groove 224. A pressure regulator 227 is arranged below the transfer plate 25. The outlet end of the pressure regulator 227 is fixedly communicated with the inside of the airbag 225 through a pipeline.

[0071] Specifically, when the strawberry is located in the circular groove of the arc-shaped cover 222 and the fruit stalk is in the fruit stalk groove 224, the pressure regulator 227 starts to work. The pressure regulator 227 inflates the airbag 225 through the pipeline, causing the airbag 225 to expand. Since the airbag 225 is adapted to the circular groove inside the fruit stalk groove 224, the expanded airbag 225 will exert a certain pressure on the fruit stalk, thereby separating the fruit stalk from the strawberry. The separated fruit stalk remains in the fruit stalk groove 224, while the strawberry, under the guidance of the arc-shaped cover 222, slides down along the inclined surface into the collection box 15 below due to the inclined arrangement of the arc-shaped cover 222;

[0072] It should be noted that by using the second vision sensor 226 to judge the shape of the strawberry and adjusting the air intake of the airbag 225 accordingly, personalized processing of strawberries of different sizes is achieved. For larger strawberries, a smaller air intake means a smaller pressure, preventing the large strawberries from being damaged due to excessive pressure; for smaller strawberries, a larger air intake generates a larger pressure to ensure that the fruit stalk can be smoothly separated. This precise control method improves the success rate and accuracy of fruit stalk separation, ensures that each strawberry can be properly processed, and enhances the working efficiency and quality of the picking machine;

[0073] As Figures 7-8 shown, the reciprocating pushing and separating component 231 is arranged below the transfer plate 25 and is used to quickly push the strawberry away from the fruit stalk. The reciprocating pushing and separating component 231 includes a reciprocating seat 232, the number of which is two, and is connected by a slide rail below the transfer plate 25; an L-shaped rod 233, the vertical end of which is installed below the reciprocating seat 232, and the horizontal end of which is fixedly connected to the arc-shaped cover 222; a U-shaped block 234, which is installed below the reciprocating seat 232; a rotating disk 235, which is fixedly connected below one of the driving rollers 26; a connecting block 236, which is rotatably connected below the rotating disk 235, and the other end of which is rotatably connected to the horizontal end of the U-shaped block 234; a connecting rod 237, the middle of which is fixedly connected to the air pressure regulator 227, and the front and rear ends of which are fixedly connected to the vertical ends of the U-shaped block 234.

[0074] It should be noted that when the picking machine is working, the control machine drives the driving roller 26 to rotate, and the rotating disk 235 fixedly connected to the driving roller 26 rotates synchronously. The rotation of the rotating disk 235 causes the connecting block 236 rotatably connected below it to perform a circular motion, pushing the U-shaped block 234 connected to it to perform a horizontal reciprocating motion. The U-shaped block 234 drives the reciprocating seat 232 installed below it to perform a reciprocating motion on the transfer plate 25 through the slide rail. The reciprocating seat 232 drives the arc-shaped cover 222 fixed to it through the L-shaped rod 233 to perform a reciprocating pushing and separating motion in the direction of the strawberry. The reciprocating pushing and separating motion of the arc-shaped cover 222 can continuously change the relative position between the airbag 225 and the fruit stalk, thereby more effectively applying pressure to the fruit stalk and improving the success rate of separating the fruit stalk from the strawberry. Especially for some fruit stalks with relatively tight connections, the reciprocating motion can increase the separation force and effect, ensuring that the fruit stalk can be smoothly separated. Moreover, for those strawberries with inclined or irregularly positioned fruit stalks, the reciprocating pushing and separating can make the airbag 225 more fully contact the fruit stalk and apply appropriate pressure, improving the adaptability of the picking machine to strawberries in different growth states.

[0075] The working principle of the present invention is as follows: For a strawberry automatic picking machine, during use, the double guide rails 11 are driven to lift by a hydraulic telescopic rod so that the double guide rails 11 reach an appropriate height. The first vision sensor 22 detects the position of the strawberry, and the angle motor and the control motor adjust the angles of the support frame 14 and the rotating frame 21 to ensure that the robotic arm is aligned with the strawberry. The electric push rod 23 pushes the slider seat 24 to extend, so that the channel formed by the two groups of first belts 27 contacts the strawberry stalk. The driving roller 26 drives the cutter head 28 to rotate, and the first cutting knife 281 and the second cutting knife 282 cooperate to quickly cut off the stalk. The stalk is conveyed by the belt channel to the collection box 15;

[0076] During the process of the stalk being conveyed by the belt channel, when the stalk enters the guiding groove 223 and the stalk groove 224 of the arc-shaped cover 222, the airbag 225 expands under the control of the air pressure regulator 227, applying pressure to separate the stalk from the strawberry. The separated strawberry slides into the collection box 15, and the stalk continues to be moved by the belt. At the same time, the driving roller 26 drives the rotating disk 235 to rotate, and through the connecting block 236 and the U-shaped block 234, the reciprocating seat 232 is driven to perform a horizontal reciprocating motion. The reciprocating seat 232 drives the arc-shaped cover 222 to perform a reciprocating pushing-away motion through the L-shaped rod 233, enhancing the pressure of the airbag 225 on the stalk to ensure the smooth separation of the stalk;

[0077] The first vision sensor 22 continues to track the next strawberry target, and the double guide rails 11 repeat the above steps to form a continuous picking cycle, improving the picking efficiency.

[0078] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of protection required by the present invention. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic strawberry picking machine, comprising a vehicle body (1), wherein the vehicle body (1) is provided with double guide rails (11) in a rectangular array; characterized in that ； A movable plate (12) slidably connected to the double guide rails (11); A turntable (13), the turntable (13) being arranged on the double guide rails (11) so as to be movable forward and backward, and the turntable (13) being rotatably connected below the movable plate (12); A support frame (14), wherein the support frame (14) is symmetrically arranged at the bottom of the rotating disk (13); A quick transfer assembly (2), the quick transfer assembly (2) being arranged between the two support frames (14) and being used for cutting the strawberries when aiming at the target strawberries and transporting the strawberries to a destination; A collection box (15), wherein the collection box (15) is arranged below the support frame (14); A quick separation component (221), the quick separation component (221) is arranged below the support frame (14) and is used to separate the transported strawberries into the collection box (15).

2. The automatic strawberry picking machine according to claim 1, characterized in that: The rapid transfer assembly (2) comprises: A rotating frame (21) is in the form of an elongated block structure with its opening facing downwards, and the rotating frame (21) is rotatably connected between the supporting frames (14); A first visual sensor (22), which is installed obliquely below the rotating frame (21) and is used to detect the position of the strawberries; An electric push rod (23) is installed obliquely above the rotating frame (21); A slider seat (24) is connected to the inner side of the rotating frame (21) through a slide rail, and the moving end of the electric push rod (23) is fixedly connected to one side of the slider seat (24); There are two transfer plates (25) and the whole transfer plates (25) are in a "mountain" shape. The two transfer plates (25) are symmetrically mounted on one end of the slider seat (24) away from the electric push rod (23); The transmission rollers (26) are provided in two groups, and one group is divided into three groups. The transmission rollers (26) of the two groups are rotatably connected at three vertical ends on the transfer plate (25). The transmission rollers (26) at the front end rotate in the forward direction, and the transmission rollers (26) at the rear end rotate in the reverse direction. The first belts (27) are provided in two groups and are connected to the transmission roller (26) in a transmission manner, and a channel for transmitting the fruit stems is formed between the two first belts (27); The cutter disc (28) is a circular structure, and two of them are provided. Both of the cutter discs (28) are rotatably connected to one of the vertical ends of the transfer plate (25), and one end of one of the driving rollers (26) rotates through the transfer plate (25) and is fixedly connected to the cutter disc (28).

3. The automatic strawberry picking machine according to claim 2, characterized in that: A first cutting knife (281) and a second cutting knife (282) are respectively installed on the outer sides of the knife disc (28) at the front and rear ends, and the first cutting knife (281) and the second cutting knife (282) are both in the shape of curved teeth, one end of the curved teeth of the first cutting knife (281) is arranged in the forward direction, and one end of the curved teeth of the second cutting knife (282) is arranged in the reverse direction.

4. The automatic strawberry picking machine according to claim 2, characterized in that: A guide plate (29) is installed at one end of the two transfer plates (25) away from the rotating frame (21), and the guide plate (29) is in a V-shaped structure. An "eight"-shaped structure is formed between one end of the two guide plates (29), and the eight-shaped structure on the two guide plates (29) faces the channel direction.

5. The automatic strawberry picking machine according to claim 3, characterized in that: The first cutting knife (281) and the second cutting knife (282) are not on the same horizontal plane, and the first cutting knife (281) and the second cutting knife (282) form an intersection point on the same vertical plane.

6. The automatic strawberry picking machine according to claim 2, characterized in that: A fixing plate (211) is installed at one end of the top of the two transfer plates (25); one end of the fixing plate (211) close to the cutter disc (28) is rotatably connected to a guide wheel (212); a guide rod is installed on the outer side of the guide wheel (212); guide rollers (213) are installed on the opposite ends of the cutter disc (28) and the guide wheel (212); and a second belt (214) is transmission-connected to the outer sides of the guide rollers (213) of the cutter disc (28) and the guide wheel (212).

7. The automatic strawberry picking machine according to claim 2, characterized in that: The quick-release assembly (221) comprises: The arc cover (222) is in a hemispherical structure, and a circular groove is provided inside the hemispherical structure. The arc cover (222) is arranged in an inclined shape below the transfer plate (25); A guide groove (223) is symmetrically arranged on the top of the arc-shaped cover (222) and is used to guide the movement of the fruit stalk; A fruit handle groove (224) is provided between the symmetrical guide grooves (223) and is connected to the guide grooves (223); The reciprocating pushing assembly (231) is arranged below the transfer plate (25) and is used to quickly push the strawberries away from the fruit stems.

8. The automatic strawberry picking machine according to claim 7, characterized in that: An air bag (225) adapted to the circular groove is installed inside the fruit stalk groove (224), a second visual sensor (226) is installed on one side of the fruit stalk groove (224), an air pressure regulator (227) is arranged below the transfer plate (25), and an outlet end of the air pressure regulator (227) is fixedly connected to the inside of the air bag (225) through a pipeline.

9. The automatic strawberry picking machine according to claim 7, characterized in that: The reciprocating push-off assembly (231) comprises: There are two reciprocating seats (232) which are connected to the transfer plate (25) via a slide rail. An L-shaped rod (233), the vertical end of which is installed below the reciprocating seat (232), and the horizontal end of which is fixedly connected to the arc cover (222); A U-shaped block (234) mounted below the reciprocating seat (232); A rotating disk (235) is mounted and fixedly connected below one of the transmission rollers (26); A connecting block (236) is rotatably connected to the lower side of the rotating disk (235), and the other end of the connecting block is rotatably connected to the horizontal end of the U-shaped block (234); The connecting rod (237) has a middle portion fixedly connected to the gas pressure regulator (227), and its front and rear ends are fixedly connected to the vertical end of the U-shaped block (234).

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