Automatic strawberry picking machine

Abstract

The present application relates to the field of agricultural machinery production, and more particularly to a kind of automatic picking machine of strawberry, including vehicle body, the double guide rail of rectangular array is arranged on the vehicle body;Moving plate, it is slidably connected on double guide rail;Rotating disc, the rotating disc is movably set on the double guide rail, the present application is transferred by setting fast subassembly, by electric push rod slider seat extension, the channel formed by two groups of first belt contacts strawberry fruit stem. Transmission roller drives cutter disc rotation, first cutting knife and second cutting knife synergistic effect, quickly cut off fruit stem, fruit stem is conveyed to collection box by belt channel, while first visual sensor continues to track next target, forms continuous picking cycle, the present application is transferred by fast subassembly by the mode of belt extruding fruit stem, reduces the time of mechanical arm back and forth turnover, realizes the fast positioning, cutting and transfer of strawberry, significantly improves picking efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery production, specifically to an automatic strawberry harvesting machine. Background Technology

[0002] Strawberries are tender and must be harvested promptly after ripening. However, with the aging of the rural population, the shortage of labor for harvesting during the picking season and the heavy workload of harvesting have become increasingly prominent. Therefore, research on strawberry robot harvesting technology is of great significance for reducing the intensity of harvesting labor, alleviating seasonal labor shortages, promoting the role of robot technology in changing outdated production methods, and promoting the modernization of agricultural production.

[0003] Strawberry picking robots are automated picking systems based on robotics and intelligent control technologies. They utilize various technologies such as visual recognition, robot positioning, and grippers to autonomously complete tasks such as strawberry identification, picking, and sorting. Compared with traditional manual picking methods, automated picking robots have advantages such as high picking efficiency, stable picking quality, and reduced labor costs.

[0004] Existing automated strawberry picking robots have certain drawbacks in use: When picking strawberries, the robot uses visual sensors to locate the strawberries, then a robotic arm's gripper cuts the stems. The robotic arm then places the cut strawberries onto a collection box before continuing to pick the next strawberry. This picking operation requires positioning each strawberry individually, with the robotic arm flipping and picking back and forth, resulting in a long cycle and low picking efficiency. Secondly, if the gripper applies uneven force to different parts of the robotic arm, irregularly shaped strawberries may experience greater pressure in some areas while other parts receive less force, easily causing localized damage and increasing the strawberry spoilage rate.

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

[0006] To address the shortcomings of existing technologies, this invention provides an automatic strawberry harvesting machine, solving the problems of low harvesting efficiency (requiring individual positioning and long operation cycles due to the robotic arm's back-and-forth rotation) and high strawberry damage rate (uneven gripping force of the robotic arm makes irregularly shaped strawberries easily damaged).

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

[0008] The technical solution adopted by this invention to solve its technical problem is: an automatic strawberry 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 table, which is arranged on the double guide rails so as to be movable back and forth, and the rotating table is rotatably connected under the moving plate;

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

[0013] Quick transfer component, 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 component, which is arranged under the support frame and is used for separating the transported strawberries into the collection box.

[0016] Preferably, the quick transfer component includes:

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

[0018] First visual 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 inside the rotating frame through a slide rail, 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 has a "mountain" - shaped structure. The two transfer plates are symmetrically installed at the end of the slider seat far 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 to 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 drive on the drive roller wheels. A channel for conveying fruit stalks is formed between the two first belts;

[0024] Cutting discs, which have 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 blade and a second cutting blade are respectively installed on the outer sides of the cutter discs at the front and rear ends, and both the first cutting blade and the second cutting blade have a curved tooth shape structure. One end of the curved tooth shape of the first cutting blade is arranged in the forward direction, and one end of the curved tooth shape of the second cutting blade is arranged in the reverse direction.

[0026] Preferably, a guide plate is installed at the end of the two transfer plates away from the rotating frame. The guide plate has a V-shaped structure, and an "eight"-shaped structure is formed between the ends of the two guide plates, with the "eight"-shaped structure on the two guide plates facing the channel direction.

[0027] Preferably, the first cutting blade and the second cutting blade are not on the same horizontal plane, and the first cutting blade and the second cutting blade intersect on the same vertical plane.

[0028] Preferably, a fixing plate is installed at one top end of the two transfer plates, and a guide wheel is rotatably connected to the end of the fixing plate near the cutter head. A guide rod is installed on the outer side of the guide wheel, and guide rollers are installed on the opposite side of the cutter head and the guide wheel. A second belt is drivenly connected to the outer side of the guide rollers of the cutter head and the guide wheel.

[0029] Preferably, the rapid separation component includes:

[0030] The arc-shaped cover has a hemispherical structure and a circular groove is opened inside the hemispherical shape. The arc-shaped cover is arranged at an angle below the transfer plate.

[0031] The guide grooves, which are symmetrically located on the top of the arc-shaped cover, are used to guide the movement of the fruit stalk.

[0032] The fruit stalk groove is located between the symmetrical guide grooves and is connected to the guide grooves;

[0033] The reciprocating push-off component, located below the transfer plate, is used to quickly push the strawberries away from the stems.

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

[0035] Preferably, the reciprocating push-away component includes:

[0036] There are two reciprocating seats, which are connected by a slide rail below the transfer plate;

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

[0038] The U-shaped block is installed below the reciprocating seat;

[0039] A rotating disc is fixedly connected below one of the drive rollers;

[0040] The connecting block is rotatably connected to the bottom of the rotating disk, and its other end is rotatably connected to the horizontal end of the U-shaped block;

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

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

[0043] (1) This invention, by setting up a rapid transfer component, uses an electric push rod to extend the slider seat, allowing the channel formed by two sets of first belts to contact the strawberry stem. The transmission roller drives the cutter disc to rotate, and the first and second cutting blades work together to quickly cut the stem. The stem is then transported to the collection box by the belt channel, while the first vision sensor continues to track the next target, forming a continuous picking cycle. This invention, through the rapid transfer component and the method of squeezing the stem with belts, reduces the time for the robotic arm to flip back and forth, achieving rapid positioning, cutting, and transfer of strawberries, and significantly improving picking efficiency.

[0044] (2) This invention features a rapid separation component. An airbag adapted to the circular groove is installed inside the stem groove, and the air intake of the airbag is controlled by an air pressure regulator. When the strawberry is located in the circular groove of the arc-shaped cover, the airbag expands and applies pressure to the stem, separating the stem from the strawberry. This reduces damage to the strawberry during the separation process. The shape of the strawberry is determined by a second visual sensor, and the air intake of the airbag is adjusted accordingly. This enables personalized processing of strawberries of different sizes. For larger strawberries, a smaller air intake means a smaller pressure, preventing damage to large strawberries due to excessive pressure. For smaller strawberries, a larger air intake generates a larger pressure to ensure that the stem can be separated smoothly.

[0045] (3) The present invention sets up a reciprocating push-away component including a reciprocating seat, an L-shaped rod, a U-shaped block, a rotating disk and a connecting rod. The rotating disk drives the U-shaped block to make horizontal reciprocating motion through the connecting block. The U-shaped block drives the arc-shaped cover to make reciprocating push-away motion, which enhances the pressure of the airbag on the fruit stalk. Especially for some fruit stalks that are connected relatively tightly, the reciprocating motion can increase the force and effect of separation, ensuring that the fruit stalk can be separated smoothly. Moreover, for strawberries with tilted or irregularly positioned stalks, the reciprocating push-away motion can make the airbag contact the fruit stalk more comprehensively and apply appropriate pressure, improving the adaptability of the harvester to strawberries in different growth states. Attached Figure Description

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the present invention;

[0049] Figure 3 This is a schematic diagram of the structure of the present invention;

[0050] Figure 4 This is a schematic diagram of the structure of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of the present invention;

[0052] Figure 6 This is a schematic diagram of the structure of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of the present invention;

[0054] Figure 8 This is a schematic diagram of the structure of the present invention.

[0055] Labels in the diagram: 1. Vehicle body; 11. Dual guide rails; 12. Moving plate; 13. Turntable; 14. Support frame; 15. Collection box; 2. Quick transfer assembly; 21. Rotating frame; 22. First vision sensor; 23. Electric actuator; 24. Slider seat; 25. Transfer plate; 26. Transmission roller; 27. First belt; 28. Cutter head; 281. First cutting blade; 282. Second cutting blade; 29. ​​Guide plate; 211. Fixing plate; 212. Guide wheel; 213. Guide roller; 214. Second belt; 221. Quick separation assembly; 222. Arc-shaped cover; 223. Guide groove; 224. Fruit stem groove; 225. Airbag; 226. Second vision sensor; 227. Air pressure regulator; 231. Reciprocating push-away assembly; 232. Reciprocating seat; 233. L-shaped rod; 234. U-shaped block; 235. Rotating disk; 236. Connecting block; 237. Connecting rod. Detailed Implementation

[0056] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0057] like Figure 1-5As shown in the figure, an automatic strawberry picking machine includes a vehicle body 1, on which a double guide rail 11 arranged in a rectangular array is provided. A hydraulic telescopic rod for driving the double guide rail 11 to rise and fall is installed on the vehicle body 1; a movable plate 12, slidably connected to the double guide rail 11; a turntable 13, movably mounted on the double guide rail 11, and rotatably connected below the movable plate 12; an angle motor for controlling the rotation of the turntable 13 is installed on the movable plate 12; a support frame 14, symmetrically arranged at the bottom of the turntable 13; and a rapid transfer assembly 2. The rapid transfer assembly 2 is positioned between two support frames 14 for cutting strawberries when aligned with the target and transporting them to the destination. A collection box 15 is positioned below the support frames 14. The rapid transfer assembly 2 includes: a rotating frame 21, which is an elongated block structure with its opening facing downwards. The rotating frame 21 is rotatably connected between the support frames 14, and a control motor is mounted on each support frame 14 to drive the rotating frame 21 to rotate at different angles; a first visual sensor 22, installed diagonally below the rotating frame 21, for detecting the position of the strawberries; and an electric pusher. A rod 23 is mounted diagonally above the rotating frame 21; a slider seat 24 is connected to the rotating frame 21 via a slide rail, and the moving end of the electric actuator 23 is fixedly connected to one side of the slider seat 24; two transfer plates 25 are provided, and the overall structure is in the shape of a "mountain"; the two transfer plates 25 are symmetrically installed at the end of the slider seat 24 away from the electric actuator 23; two sets of drive rollers 26 are provided, and each set consists of three rollers; both sets of drive rollers 26 are rotatably connected to the three vertical ends of the transfer plate 25; the slider seat 24 is internally equipped with a mechanism for driving... A control unit rotates one of the drive rollers 26. The drive roller 26 at the front end rotates in the forward direction, and the drive roller 26 at the rear end rotates in the reverse direction. There are two sets of first belts 27, which are connected to the drive rollers 26. A channel for conveying fruit stems is formed between the two first belts 27. There are two cutter discs 28, which are circular in shape. Both cutter discs 28 are rotatably connected to one of the vertical ends of the transfer plate 25. One end of the drive roller 26 rotates through the transfer plate 25 and is fixedly connected to the cutter disc 28.

[0058] It should be noted that: First, when it is time to pick strawberries, the control machine starts, driving the transmission roller 26 to rotate. With the cooperation of the first belt 27, the transmission roller 26 starts to rotate. The hydraulic telescopic rod drives the double guide rail 11 to rise and fall to a suitable height, ensuring that the robotic arm can accurately reach the position of the strawberry. After the first vision sensor 22 detects the position of the strawberry, the angle motor drives the support frame 14 to rotate, and the control motor drives the rotating frame 21 to rotate and adjust to a suitable 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 sets of rotating belts contacts the strawberry stem. The stem moves under the pressure of the belt. At the same time, when the transmission roller 26 rotates, it drives the cutter head 28 to rotate. The cutter head 28 cuts the stem. The cut stem 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] The design of the rapid transfer component 2 enables rapid positioning, cutting, and transfer of strawberries, reducing the time spent by the robotic arm flipping back and forth and significantly improving harvesting efficiency. Moreover, the use of a belt to squeeze the fruit stem avoids the problem of uneven force applied to strawberries by traditional robotic arm grippers, reducing the risk of local damage to strawberries and lowering the damage rate of strawberries.

[0060] like Figure 6 As shown in the figure, a first cutting blade 281 and a second cutting blade 282 are respectively installed on the outer side of the cutter disc 28 at the front and rear ends. Both the first cutting blade 281 and the second cutting blade 282 have a curved tooth shape structure. The curved tooth shape of the first cutting blade 281 is arranged in the forward direction, and the curved tooth shape of the second cutting blade 282 is arranged in the reverse direction.

[0061] It should be noted that when the first cutting blade 281, which is arranged in the forward direction, and the second cutting blade 282, which is arranged in the reverse direction, rotate, they can smoothly guide and advance the fruit stem along the channel, preventing the fruit stem from deviating or getting stuck during the cutting process. Moreover, the curved tooth-shaped cutting blade can cut into the fruit stem more effectively, reduce the resistance during cutting, and improve the cutting efficiency.

[0062] Two transfer plates 25 are equipped with guide plates 29 at the ends away from the rotating frame 21. The guide plates 29 have a V-shaped structure, and an "eight"-shaped structure is formed between the ends of the two guide plates 29. The "eight"-shaped structure on the two guide plates 29 faces the channel direction.

[0063] It should be noted that the large opening of the "eight" shaped structure increases the capture range of the strawberry stem. When the robotic arm approaches the strawberry, the stem is more easily captured by the "eight" opening of the guide plate 29, and then smoothly enters the stem conveying channel formed between the two first belts 27 along the V-shaped inclined surface of the guide plate 29. This improves the accuracy and success rate of the stem entering the channel and reduces the chances of the stem missing the channel or deviating.

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

[0065] It should be noted that during the cutting process, the first cutting blade 281 first contacts a certain part of the fruit stem to make a cut, and then the second cutting blade 282 cuts in from another height. The synergistic effect of the two cutting blades can cut the fruit stem more quickly and thoroughly, thus improving the cutting efficiency.

[0066] like Figure 5-6 As shown in the figure, a fixing plate 211 is installed at one end of the top of the two transfer plates 25. A guide wheel 212 is rotatably connected to one end of the fixing plate 211 near the cutter head 28. A guide rod is installed on the outside of the guide wheel 212. Guide rollers 213 are installed on the opposite side of the cutter head 28 and the guide wheel 212. A second belt 214 is connected to the outside of the guide rollers 213 of the cutter head 28 and the guide wheel 212.

[0067] It should be noted that during the rotation of the cutter head 28, the second belt 214 is connected to the guide roller 213 on the outside of the guide wheel 212, transmitting power to the guide wheel 212. When the strawberry stem is conveyed to the area between the two transfer plates 25, the guide wheel 212 and the guide rod on its outside can provide initial guidance for the stem, guiding it to move towards the cutter head 28. The guide wheel 212 and guide rod provided in this invention can better guide the stem into the cutting area, ensuring that the stem is accurately within the cutting range of the cutter head 28, reducing the possibility of inaccurate cutting or cutting failure due to stem position deviation, and improving the success rate and quality of cutting.

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

[0069] As the strawberry stem moves along the conveyor structure on the transfer plate 25, due to its vertical structure, it first contacts the guide grooves 223 symmetrically located on the top of the arc-shaped cover 222. The special shape and position design of the guide grooves 223 guide the stem to move along a specific trajectory, allowing it to smoothly enter the stem groove 224. In this process, the guide grooves 223 play a role in accurately positioning the stem. After the stem enters the stem groove 224, the belt on the transfer plate 25 continues to push the stem, thereby causing the strawberry attached to the stem to gradually approach the arc-shaped cover 222. As the stem 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 acts as a wrapping device for the strawberry, keeping it in a relatively stable position during the separation of the stem, preventing the strawberry from shaking or falling off during separation, and reducing the possibility of the strawberry being damaged by collisions, squeezing, etc. during the picking process.

[0070] like Figures 7-8 As shown, 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. An air pressure regulator 227 is set below the transfer plate 25. The outlet end of the air pressure regulator 227 is fixedly connected to the inside of the airbag 225 through a pipe.

[0071] Specifically, when the strawberry is located in the circular groove of the arc-shaped cover 222 and the stem is located in the stem groove 224, the air pressure regulator 227 starts to work. The air pressure regulator 227 inflates the air bag 225 through the pipe, causing the air bag 225 to expand. Since the air bag 225 is adapted to the circular groove inside the stem groove 224, the expanded air bag 225 will apply a certain pressure to the stem, thereby separating the stem from the strawberry. The separated stem remains in the stem groove 224, while the strawberry, guided by the arc-shaped cover 222, slides down the inclined surface into the collection box 15 below.

[0072] It should be noted that by using the second vision sensor 226 to determine 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 less pressure, preventing damage to large strawberries due to excessive pressure; for smaller strawberries, a larger air intake generates greater pressure to ensure smooth stem separation. This precise control method improves the success rate and accuracy of stem separation, ensuring that each strawberry receives appropriate processing, thus enhancing the efficiency and quality of the harvester.

[0073] like Figures 7-8 As shown, the reciprocating pushing assembly 231 is located below the transfer plate 25 and is used to quickly push the strawberry away from the stem. The reciprocating pushing assembly 231 includes two reciprocating seats 232, which are 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 transmission 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; and a connecting rod 237, the middle part 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 end of the U-shaped block 234.

[0074] It should be noted that when the harvester is working, the controller drives the transmission roller 26 to rotate, and the rotating disk 235, which is fixedly connected to the transmission roller 26, rotates synchronously. The rotation of the rotating disk 235 causes the connecting block 236 connected to it to make a circular motion, which pushes the U-shaped block 234 connected to it to make a horizontal reciprocating motion. The U-shaped block 234 drives the reciprocating seat 232 installed below it to make 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 make 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 make the relative position between the air bag 225 and the fruit stem constantly change, thereby applying pressure to the fruit stem more effectively and improving the success rate of separating the fruit stem from the strawberry. Especially for some tightly connected stems, the reciprocating motion can increase the force and effect of separation, ensuring that the stems can be separated smoothly. Moreover, for strawberries with tilted or irregularly positioned stems, the reciprocating pushing and pulling motion can make the airbag 225 make more comprehensive contact with the stem and apply appropriate pressure, improving the harvester's adaptability to strawberries in different growth stages.

[0075] The working principle of this invention is as follows: This invention is used in an automatic strawberry picking machine. During use, the double guide rail 11 is raised and lowered by a hydraulic telescopic rod so that the double guide rail 11 reaches a suitable height. The first vision sensor 22 detects the position of the strawberry. The angle motor and the control motor adjust the angle 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 sets of first belts 27 contacts the strawberry stem. The transmission roller 26 drives the cutter disc 28 to rotate. The first cutting blade 281 and the second cutting blade 282 work together to quickly cut off the stem. The stem is conveyed to the collection box 15 by the belt channel.

[0076] During the conveyor belt process, when the fruit stem enters the guide groove 223 and fruit stem groove 224 of the arc-shaped cover 222, the air bladder 225 expands under the control of the air pressure regulator 227, applying pressure to separate the fruit stem from the strawberry. The separated strawberry slides into the collection box 15, and the fruit stem continues to be moved by the belt. At the same time, the transmission roller 26 drives the rotating disk 235 to rotate, and drives the reciprocating seat 232 to perform horizontal reciprocating motion through the connecting block 236 and the U-shaped block 234. The reciprocating seat 232 drives the arc-shaped cover 222 to perform reciprocating pushing motion through the L-shaped rod 233, which increases the pressure of the air bladder 225 on the fruit stem and ensures that the fruit stem is separated smoothly.

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

[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic strawberry harvesting machine, comprising a vehicle body (1), wherein the vehicle body (1) is provided with a double guide rail (11) arranged in a rectangular array; characterized in that ； A movable plate (12) is slidably connected to a double guide rail (11); a turntable (13) is movably disposed on the double guide rail (11) and is rotatably connected below the movable plate (12); Support frame (14), the support frame (14) is symmetrically arranged at the bottom of the turntable (13); quick transfer assembly (2), the quick transfer assembly (2) is arranged between the two support frames (14), and is used to cut the strawberry when it is aligned with the strawberry target and transport the strawberry to the destination position; A collection box (15) is located below the support frame (14); a quick separation assembly (221) is located below the support frame (14) and is used to separate the transported strawberries into the collection box (15); the quick transfer assembly (2) includes: a rotating frame (21), which is a long block structure with its opening facing downward, and the rotating frame (21) is rotatably connected between the support frames (14); a first vision sensor (22), which is installed diagonally below the rotating frame (21) and is used to detect the position of the strawberries; an electric push rod (23), which is installed diagonally above the rotating frame (21); a slider seat (24), which is connected to the inside of the rotating frame (21) by a slide rail, and the moving end of the electric push rod (23) is fixedly connected to one side of the slider seat (24); and two transfer plates (25), which are arranged in a continuous manner. The body has a "mountain" shaped structure. The two transfer plates (25) are symmetrically installed on the end of the slider seat (24) away from the electric push rod (23). There are two sets of transmission rollers (26), and each set is divided into three. The two sets of transmission rollers (26) are rotatably connected to the three vertical ends of the transfer plate (25). The transmission roller (26) at the front end rotates in the forward direction, and the transmission roller (26) at the rear end rotates in the reverse direction. There are two sets of first belts (27), which are connected to the transmission rollers (26). A channel for conveying fruit stems is formed between the two first belts (27). There are two cutter discs (28) with a circular structure. The two cutter discs (28) are rotatably connected to one of the vertical ends of the transfer plate (25). One end of one of the transmission rollers (26) rotates through the transfer plate (25) and is fixedly connected to the cutter disc (28). The rapid separation component (221) includes: an arc-shaped cover (222), which has a hemispherical structure and a circular groove inside the hemispherical shape, the arc-shaped cover (222) being arranged at an angle below the transfer plate (25); guide grooves (223), which are symmetrically opened on the top of the arc-shaped cover (222) to guide the movement of the fruit stem; a fruit stem groove (224), which is opened between the symmetrical guide grooves (223) and is connected to the guide grooves (223); and a reciprocating pushing component (231), which is set below the transfer plate (25) to quickly push the strawberry away from the fruit stem; 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). An air pressure regulator (227) is provided below the transfer plate (25). The outlet end of the air pressure regulator (227) is fixedly connected to the inside of the airbag (225) through a pipe.

2. The automatic strawberry harvesting machine according to claim 1, characterized in that; A first cutting blade (281) and a second cutting blade (282) are respectively installed on the outer side of the cutter disc (28) located at the front and rear ends. Both the first cutting blade (281) and the second cutting blade (282) have a curved tooth shape structure. The curved tooth shape of the first cutting blade (281) is arranged in the forward direction, and the curved tooth shape of the second cutting blade (282) is arranged in the reverse direction.

3. The automatic strawberry harvesting machine according to claim 1, characterized in that; Two transfer plates (25) are equipped with guide plates (29) at the ends away from the rotating frame (21). The guide plates (29) are V-shaped and form an "eight" shape between the ends of the two guide plates (29). The "eight" shape on the two guide plates (29) faces the channel direction.

4. The automatic strawberry harvesting machine according to claim 2, characterized in that; The first cutting blade (281) and the second cutting blade (282) are not on the same horizontal plane, and the first cutting blade (281) and the second cutting blade (282) intersect on the same vertical plane.

5. The automatic strawberry harvesting machine according to claim 1, characterized in that; A fixing plate (211) is installed at one end of the top of the two transfer plates (25). A guide wheel (212) is rotatably connected to one end of the fixing plate (211) near the cutter head (28). A guide rod is installed on the outside of the guide wheel (212). A guide roller (213) is installed on one end of the opposite side of the cutter head (28) and the guide wheel (212). A second belt (214) is connected to the outside of the guide roller (213) of the cutter head (28) and the guide wheel (212).

6. The automatic strawberry harvesting machine according to claim 1, characterized in that; The reciprocating push-off assembly (231) includes: two reciprocating seats (232) connected to the transfer plate (25) via a slide rail; an L-shaped rod (233) with its vertical end installed below the reciprocating seat (232) and its horizontal end fixedly connected to the arc-shaped cover (222); a U-shaped block (234) installed below the reciprocating seat (232); a rotating disk (235) fixedly connected below one of the transmission rollers (26); a connecting block (236) rotatably connected below the rotating disk (235) and its other end rotatably connected to the horizontal end of the U-shaped block (234); and a connecting rod (237) with its middle part fixedly connected to the air pressure regulator (227) and its front and rear ends fixedly connected to the vertical end of the U-shaped block (234).

Images