A machine for picking and sorting Trichosanthes kirilowii Maxim

Abstract

This application belongs to the technical field of Trichosanthes kirilowii Maxim. picking, and discloses a Trichosanthes kirilowii Maxim. picking and sorting integrated machine, which includes a walkable vehicle body, a working platform, a collection mechanism, a picking mechanism, a conveying mechanism, and a sorting mechanism. The collection mechanism includes a collection rack and a collection box; the picking mechanism includes a robotic arm, a picking box, and a driving assembly. A fixed cutter is horizontally arranged on the front side of the picking box, and a reciprocating cutter is slidably arranged on the fixed cutter. A notch is formed on the front side of the top surface of the picking box, and a vibrating plate is rotatably arranged in the notch through a rotating shaft. A plurality of rake teeth are arranged on the front side plate edge of the vibrating plate, and a plurality of first hemispheres are arranged at intervals on the lower plate surface of the vibrating plate. A plurality of second hemispheres are correspondingly arranged on the reciprocating cutter. The conveying mechanism is used to convey the picked Trichosanthes kirilowii Maxim. to the sorting mechanism, and the sorting mechanism sorts the Trichosanthes kirilowii Maxim. By the cooperation of the second hemispheres and the first hemispheres, when the reciprocating cutter reciprocates, it drives the vibrating plate to move up and down to shake the ceiling surface of the Trichosanthes kirilowii Maxim., and shakes the Trichosanthes kirilowii Maxim. on the ceiling surface down, which is convenient for picking.

Description

Technical Field

[0001] The present invention relates to the technical field of trichosanthes kirilowii harvesting, and particularly relates to a trichosanthes kirilowii picking and sorting integrated machine. Background Art

[0002] In recent years, the medicinal and edible values of trichosanthes kirilowii have been emphasized by people, and large-scale artificial cultivation has been started. Since trichosanthes kirilowii belongs to a climbing herbaceous plant of the cucurbitaceae family, a vine-supporting trellis will be set up for trichosanthes kirilowii when planting it. The height of the trellis is mostly slightly higher than the height of a person to facilitate subsequent management.

[0003] At present, the picking of trichosanthes kirilowii is basically carried out manually. People hold the trichosanthes kirilowii with one hand and cut off the melon stalk with scissors in the other hand, and then put the trichosanthes kirilowii into a back basket or a collection box. This picking method requires people to hold their hands high, which is very laborious. Not only is the labor intensity high, but the picking efficiency is also relatively low, resulting in an increase in the picking cost of trichosanthes kirilowii and making it difficult to carry out large-scale production. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a trichosanthes kirilowii picking and sorting integrated machine.

[0005] The above technical object of the present invention is achieved through the following technical solutions: A trichosanthes kirilowii picking and sorting integrated machine includes a walkable vehicle body. A working platform is arranged on the front side of the walkable vehicle body. A collection mechanism, a picking mechanism, a conveying mechanism, and a sorting mechanism are arranged on the working platform. The collection mechanism includes a collection rack arranged on the working platform, and two collection boxes are placed in the collection rack; the picking mechanism includes a robotic arm arranged on the top of the collection rack. A picking box is horizontally rotatably arranged at the overhanging end of the robotic arm. A fixed cutter is horizontally arranged on the front side of the picking box. A reciprocating cutter is slidably arranged along the length direction of the fixed cutter. A notch is opened on the front side of the top surface of the picking box. A horizontally arranged rotating shaft is rotatably arranged in the notch. A vibrating plate extending forward is fixedly arranged on the rotating shaft. A plurality of rake teeth are arranged at intervals on the front side plate edge of the vibrating plate. The front end of the rake teeth is located in front of the cutting edge of the reciprocating cutter and the rear end is located behind the cutting edge of the reciprocating cutter. A plurality of first hemispheres are arranged at intervals along the length direction of the reciprocating cutter on the lower plate surface of the vibrating plate. A plurality of second hemispheres corresponding to the first hemispheres are arranged on the reciprocating cutter. A driving component for driving the reciprocating cutter to reciprocate is arranged in the picking box; the conveying mechanism is used to convey the picked trichosanthes kirilowii to the sorting mechanism, and the sorting mechanism is used to identify the maturity of the trichosanthes kirilowii and separately convey the mature and immature trichosanthes kirilowii into two collection boxes.

[0006] Furthermore, the front end of the rake teeth is integrally in a downward arc shape. Torsion springs are arranged at both ends of the rotating shaft, and the torsion springs provide a downward elastic force for the vibrating plate.

[0007] Further, the driving assembly includes a driving motor and a reciprocating plate. The reciprocating plate is slidably arranged in the picking box along the length direction of the reciprocating cutter, and reciprocating teeth are arranged on the edges of both side plates thereof. Rotating shafts are rotatably arranged on the front and rear sides of the reciprocating plate in the picking box. A driven gear and a sector driving gear are coaxially arranged on the rotating shafts. The sector driving gears on the two rotating shafts are arranged in the same direction and are intermittently engaged with the reciprocating teeth on the corresponding sides. The driving motor is arranged in the picking box, and a driving gear is arranged on its output shaft. The driving gear is located between the two driven gears and is engaged with both driven gears. A connecting plate protrudes into the picking box from the rear side of the reciprocating cutter, and the bottom of the connecting plate is fixedly connected to the reciprocating plate.

[0008] Further, guiding assemblies are also arranged at both ends of the reciprocating cutter on the front side of the picking box. Each guiding assembly includes a vertically arranged rotating shaft, and a rotating disc is arranged at the top end of the rotating shaft. A plurality of guiding arms are annularly arranged on the edge of the rotating disc. The height of the guiding arms is between the rake teeth and the reciprocating cutter.

[0009] Further, each guiding assembly includes a support frame arranged at both ends of the reciprocating cutter on the front side of the picking box. A circular block is arranged on the support frame. The rotating shaft is rotatably arranged on the circular block and is concentric with the circular block. An annular chute is formed on the top surface of the circular block. The center of the annular chute is located on the side of the rotating shaft away from the reciprocating cutter. A plurality of sliding blocks are slidably arranged in the annular chute. Each guiding arm includes a fixed tube arranged radially along the rotating disc and a telescopic arm slidably arranged in the fixed tube. The bottom of the outer end of the telescopic arm is hinged with a first connecting rod. One end of the first connecting rod away from the telescopic arm is hinged with a second connecting rod. One end of the second connecting rod away from the first connecting rod is hinged with the top end of the sliding block. The lower end of the rotating shaft passes through the circular block and is provided with a driven roller. Two driving rollers are arranged on the output shaft of the driving motor. The two driving rollers are respectively connected with the driven rollers of the two guiding assemblies through synchronous belts.

[0010] Further, the sorting mechanism includes a sorting box arranged on the front side of the collection frame. A feed hopper is arranged on one side of the sorting box away from the collection frame, and a mature trichosanthes kirilowii outlet and an immature trichosanthes kirilowii outlet are arranged near the collection frame. Outlet pipes are arranged at both the mature trichosanthes kirilowii outlet and the immature trichosanthes kirilowii outlet. The discharging ends of the two outlet pipes pass through the collection frame and are respectively arranged above the two collection boxes; A color sorting camera and a pushing mechanism are arranged in the sorting box. The color sorting camera is used for taking pictures of trichosanthes kirilowii and identifying the maturity of trichosanthes kirilowii according to the skin color of trichosanthes kirilowii. The pushing mechanism is used for pushing the immature trichosanthes kirilowii to the immature trichosanthes kirilowii outlet.

[0011] Furthermore, the conveying mechanism includes a mounting frame disposed at the bottom of the picking box. A collecting hopper is fixedly provided on the front side of the mounting frame. The feed inlet of the collecting hopper is located below the fixed blade. A conveying hose is provided at the bottom discharge port of the collecting hopper, and the discharge end of the conveying hose is connected to the feed hopper.

[0012] In summary, the present invention has the following beneficial effects:

[0013] 1. In the present application, a collecting mechanism, a picking mechanism, a conveying mechanism, and a sorting mechanism are provided. The trichosanthes kirilowii maxim is picked by the picking mechanism, and then the picked trichosanthes kirilowii maxim is conveyed to the sorting mechanism for sorting through the conveying mechanism. Then, the mature and immature trichosanthes kirilowii maxim are respectively conveyed into different collecting frames, integrating the picking, conveying, sorting, and collecting of trichosanthes kirilowii maxim, greatly improving the picking efficiency of trichosanthes kirilowii maxim, reducing the labor intensity of workers, realizing automatic picking, and laying a foundation for the large-scale production of trichosanthes kirilowii maxim.

[0014] 2. In the present application, a fixed cutter and a reciprocating cutter are provided. The reciprocating cutter is driven by a driving component to reciprocate and cooperate with the fixed cutter to shear the vine of the trichosanthes kirilowii maxim, so as to realize the rapid picking of the trichosanthes kirilowii maxim. By providing a reciprocating plate, reciprocating teeth, a rotating shaft, a driven gear, a sector driving gear, a driving motor, and a driving gear, the driving motor drives the driving gear to drive two driven gears to rotate, thereby driving the rotating shafts and sector driving gears on both sides to rotate, so that the sector driving gears on both sides are intermittently engaged with the reciprocating teeth on both sides of the reciprocating plate, thereby driving the reciprocating plate to reciprocate, and the reciprocating cutter to reciprocate. In this way, only the driving motor needs to keep rotating, which is convenient for control.

[0015] 3. In the present application, a rotating shaft, a vibrating plate, rake teeth, a first hemisphere, and a second hemisphere are provided. The vibrating plate is hinged to the top of the picking box through the rotating shaft. Under the reciprocating movement of the reciprocating cutter, the second hemisphere moves relative to the first hemisphere, so that the vibrating plate keeps moving up and down. When picking, the up and down movement of the vibrating plate is used to shake the ceiling surface of the trichosanthes kirilowii maxim field, and the trichosanthes kirilowii maxim hidden on the ceiling surface can be shaken off, which is convenient for picking. At the same time, the rake teeth in front of the vibrating plate can also be used to guide the trichosanthes kirilowii maxim hanging under the ceiling surface, so as to facilitate picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the overall structural schematic diagram of an embodiment of the present invention;

[0017] Figure 2 is the structural schematic diagram of each mechanism on the working platform of an embodiment of the present invention;

[0018] Figure 3 is the structural schematic diagram of the picking box part of an embodiment of the present invention;

[0019] Figure 4It is a schematic structural diagram of an embodiment of the present invention for highlighting the cooperation relationship between the vibrating plate and the reciprocating cutter;

[0020] Figure 5 It is a schematic structural diagram of an embodiment of the present invention for highlighting the inside of the picking box.

[0021] Figure 6 It is a schematic structural diagram of the picking mechanism of an embodiment of the present invention after hiding the robotic arm and the picking box;

[0022] Figure 7 It is a schematic structural diagram of an embodiment of the present invention for highlighting a part of the drive assembly;

[0023] Figure 8 It is a schematic structural diagram of the guiding component of an embodiment of the present invention;

[0024] Figure 9 It is a schematic diagram of the vibrating plate and its upper structure of an embodiment of the present invention;

[0025] Figure 10 It is a schematic structural diagram of the conveying mechanism, sorting mechanism, and collection mechanism of an embodiment of the present invention.

[0026] In the figure: 10, a walkable vehicle body; 20, a working platform; 30, a collection mechanism; 31, a collection rack; 32, a collection box; 40, a picking mechanism; 41, a robotic arm; 42, a picking box; 421, a notch; 422, a rotating shaft; 423, a torsion spring; 43, a fixed cutter; 44, a reciprocating cutter; 441, a second hemisphere; 442, a connecting plate; 45, a vibrating plate; 451, a rake tooth; 452, a first hemisphere; 46, a drive assembly; 461, a drive motor; 462, a reciprocating plate; 463, a reciprocating tooth; 464, a rotating shaft; 465, a driven gear; 466, a sector drive gear; 467, a driving gear; 468, a driving roller; 469, a synchronous belt; 47, a guiding component; 471, a rotating shaft; 472, a rotating disk; 473, a guiding arm; 4731, a fixed pipe; 4732, a telescopic arm; 474, a support frame; 475, a circular block; 476, a circular ring chute; 477, a sliding block; 478, a first connecting rod; 479, a second connecting rod; 50, a conveying mechanism; 51, a mounting rack; 52, a collection hopper; 53, a conveying hose; 60, a sorting mechanism; 61, a sorting box; 62, a feed hopper; 63, a discharge pipe. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] As shown Figure 1-10 in the figure, an integrated machine for picking and sorting Trichosanthes kirilowii Maxim. disclosed in an embodiment of the present application includes a walkable vehicle body 10. A working platform 20 is arranged on the front side of the walkable vehicle body 10. A collection mechanism 30, a picking mechanism 40, a conveying mechanism 50, and a sorting mechanism 60 are arranged on the working platform 20. The walkable vehicle body 10 is used to control the movement of the entire machine, and a crawler-type walkable vehicle body in the current agricultural field can be adopted to facilitate walking in the Trichosanthes kirilowii Maxim. field. The picking mechanism 40 is used to pick Trichosanthes kirilowii Maxim., the conveying mechanism 50 is used to convey the picked Trichosanthes kirilowii Maxim. to the sorting mechanism 60, and the sorting mechanism 60 is used to identify the maturity of Trichosanthes kirilowii Maxim., classify Trichosanthes kirilowii Maxim. into two types: mature Trichosanthes kirilowii Maxim. and immature Trichosanthes kirilowii Maxim., and convey the mature and immature Trichosanthes kirilowii Maxim. to the collection mechanism 30 respectively. The collection mechanism 30 includes a collection rack 31 arranged on the working platform 20. Two collection boxes 32 are placed in the collection rack 31. The two collection boxes 32 are respectively used to collect mature and immature Trichosanthes kirilowii Maxim. The mature Trichosanthes kirilowii Maxim. can be directly transported to the factory for subsequent production, and the immature Trichosanthes kirilowii Maxim. is transported to the warehouse for centralized storage for a period of time and then undergoes subsequent production after it matures naturally.

[0029] Specifically, the picking mechanism 40 includes a robotic arm 41 arranged on the top of the collection rack 31. A picking box 42 is horizontally rotatably arranged at the overhanging end of the robotic arm 41. The robotic arm 41 overhangs and supports the picking box 42, which is also convenient for adjusting the height and pitch angle of the picking box 42 so that the picking box 42 is in a suitable position for picking and can be adjusted in height according to the actual situation of the Trichosanthes kirilowii Maxim. field.

[0030] A fixed cutter 43 is horizontally arranged on the front side of the picking box 42. A reciprocating cutter 44 is slidably arranged on the fixed cutter 43 along its length direction. A driving assembly 46 for driving the reciprocating cutter 44 to reciprocate is arranged in the picking box 42. The driving assembly 46 includes a driving motor 461 and a reciprocating plate 462. The reciprocating plate 462 is slidably arranged in the picking box 42 along the length direction of the reciprocating cutter 44. Reciprocating teeth 463 are arranged on the side edges of both side plates of the reciprocating plate 462. A connecting plate 442 protrudes into the picking box 42 from the rear side of the reciprocating cutter 44. The bottom of the connecting plate 442 is fixedly connected to the reciprocating plate 462, so that the reciprocating plate 462, the connecting plate 442 and the reciprocating cutter 44 move synchronously. Rotating shafts 464 are rotatably arranged on the front and rear sides of the reciprocating plate 462 in the picking box 42. A driven gear 465 and a sector driving gear 466 are coaxially arranged on the rotating shaft 464. The sector driving gears 466 on the two rotating shafts 464 are arranged in the same direction and are intermittently engaged with the reciprocating teeth 463 on the corresponding sides, that is, when the sector driving gear 466 on the side far from the reciprocating cutter 44 is engaged with the reciprocating teeth 463 on the corresponding side, the sector driving gear 466 on the side close to the reciprocating cutter 44 is not engaged with the reciprocating teeth 463 on the corresponding side. At this time, the sector driving gear 466 drives the reciprocating teeth 463 and the reciprocating plate 462 to move horizontally to one side; when the sector driving gear 466 on the side far from the reciprocating cutter 44 rotates to be disengaged from the reciprocating teeth 463 on the corresponding side, the sector driving gear 466 on the side close to the reciprocating cutter 44 rotates to be engaged with the reciprocating teeth 463 on the corresponding side, so as to drive the reciprocating teeth 463 and the reciprocating plate 462 to move horizontally to the opposite side; in this way, only the two rotating shafts 464 need to rotate synchronously to realize the intermittent engagement of the sector driving gears 466 on both sides with the corresponding reciprocating teeth 463, so as to drive the reciprocating plate 462 to reciprocate, drive the reciprocating cutter 44 to reciprocate and cooperate with the fixed cutter 43 to realize the picking of trichosanthes kirilowii, with a simple structure and convenient control.

[0031] The driving motor 461 is arranged in the picking box 42. A driving gear 467 is arranged on its output shaft. The driving gear 467 is located between the two driven gears 465 and is engaged with both driven gears 465. By driving the driving gear 467 to rotate through the driving motor 461, the two driven gears 465 are driven to rotate synchronously, driving the two rotating shafts 464 to rotate synchronously.

[0032] A notch 421 is formed in the front side of the top surface of the picking box 42. A horizontally arranged rotating shaft 422 is rotatably arranged in the notch 421. A vibrating plate 45 extending forward is fixedly arranged on the rotating shaft 422. The top surface of the vibrating plate 45 is higher than the top surface of the picking box 42, so that the vibrating plate 45 can directly contact the ceiling surface of the trichosanthes kirilowii ground during operation. Torsion springs 423 are arranged at both ends of the rotating shaft 422. The torsion springs 423 provide a downward elastic force for the vibrating plate 45, so that the vibrating plate 45 is in a low position without external force. A plurality of first hemispheres 452 are arranged at intervals along the length direction of the reciprocating cutter 44 on the lower plate surface of the vibrating plate 45. A plurality of second hemispheres 441 corresponding to the first hemispheres 452 are arranged on the reciprocating cutter 44. When the reciprocating cutter 44 makes a reciprocating motion, the second hemispheres 441 contact and push the first hemispheres 452 upward, so that the vibrating plate 45 vibrates up and down reciprocally. In this way, the reciprocating motion of the reciprocating cutter 44 can drive the vibrating plate 45 to vibrate up and down reciprocally. During picking, the up and down reciprocating vibration of the vibrating plate 45 is used to shake the ceiling surface of the trichosanthes kirilowii ground, and the trichosanthes kirilowii hidden on the ceiling surface can be shaken off, which is convenient for picking.

[0033] A plurality of rake teeth 451 are arranged at intervals on the front side edge of the vibrating plate 45. The front ends of the rake teeth 451 are integrally curved downward, which can effectively prevent the rake teeth 451 from inserting into the ceiling surface of the trichosanthes kirilowii ground when the feasible walking vehicle body 10 moves forward, affecting the picking work. A V-shaped gap is formed between two adjacent rake teeth 451. The front ends of the rake teeth 451 are located in front of the cutting edge of the reciprocating cutter 44, and the rear ends are located behind the cutting edge of the reciprocating cutter 44, so that the vines of the trichosanthes kirilowii can be guided into the V-shaped gap between the rake teeth 451, which is convenient for the reciprocating cutter 44 to cut the vines.

[0034] Furthermore, it is set that guiding components 47 are also arranged at both ends of the reciprocating cutter 44 on the front side of the picking box 42, which are used to guide the trichosanthes kirilowii at both ends of the reciprocating cutter 44 to the front side of the reciprocating cutter 44, so as to expand the picking range. Specifically, the guiding component 47 includes a support frame 474, a circular block 475, and a rotating shaft 471. The support frame 474 is arranged at both ends of the reciprocating cutter 44 on the front side of the picking box 42. The circular block 475 is arranged on the support frame 474. The rotating shaft 471 is vertically rotatably arranged on the circular block 475 and is concentrically arranged with the circular block 475. A rotating disc 472 is arranged at the top end of the rotating shaft 471. A plurality of guiding arms 473 are annularly arranged on the edge of the rotating disc 472. The height of the guiding arms 473 is located between the rake teeth 451 and the reciprocating cutter 44. By driving the rotating disc 472 and the guiding arms 473 to rotate through the rotating shaft 471, the trichosanthes kirilowii at both ends of the reciprocating cutter 44 are swung into the outermost V-shaped gap of the rake teeth 451, so that the reciprocating cutter 44 can perform cutting and picking.

[0035] When setting, an annular chute 476 is eccentrically opened on the top surface of the circular block 475. The center of the annular chute 476 is located on the side of the rotating shaft 471 away from the reciprocating cutter 44. A number of sliding blocks 477 are slidably arranged in the annular chute 476. The number of the sliding blocks 477 is the same as and corresponds one by one to the number of the guiding arms 473, preferably 4. The guiding arm 473 includes a fixed tube 4731 arranged radially along the rotating disc 472 and a telescopic arm 4732 slidably arranged in the fixed tube 4731. At the bottom of the outer end of the telescopic arm 4732, a first connecting rod 478 is hingedly arranged. One end of the first connecting rod 478 away from the telescopic arm 4732 is hingedly arranged with a second connecting rod 479. One end of the second connecting rod 479 away from the first connecting rod 478 is hingedly connected to the top end of the sliding block 477. When the rotating shaft 471 drives the rotating disc 472 to rotate, since the annular chute 476 and the rotating disc 472 are integrally eccentrically arranged and the annular chute 476 is located on the side of the circular block 475 away from the reciprocating cutter 44, when the guiding arm 473 rotates, the telescopic arm 4732 performs telescopic movement relative to the fixed tube 4731. That is, the telescopic arm 4732 extends when it is away from the end of the reciprocating cutter 44, and the telescopic arm 4732 shortens when it is near the end of the reciprocating cutter 44. So that when the guiding arm 473 guides the outer trichosanthes kirilowii maxim. to the end of the reciprocating cutter 44, the telescopic arm 4732 continuously shortens to avoid.

[0036] Further, the lower end of the rotating shaft 471 passes through the circular block 475 and is provided with a driven roller (not shown in the figure). Two driving rollers 468 are arranged on the output shaft of the driving motor 461. The two driving rollers 468 are respectively connected to the driven rollers of the two guiding assemblies 47 through a synchronous belt 469. In this way, the guiding assembly 47 can be directly driven by the driving motor 461 without additional power configuration.

[0037] The sorting mechanism 60 includes a sorting box 61 arranged on the front side of the collection rack 31. A feed hopper 62 is arranged on the side of the sorting box 61 away from the collection rack 31. A mature trichosanthes kirilowii maxim. outlet and an immature trichosanthes kirilowii maxim. outlet are arranged near the collection rack 31. Discharge pipes 63 are arranged at both the mature trichosanthes kirilowii maxim. outlet and the immature trichosanthes kirilowii maxim. outlet. The discharge ends of the two discharge pipes 63 pass through the collection rack 31 and are respectively arranged above the two collection frames 32, so as to convey the mature trichosanthes kirilowii maxim. and the immature trichosanthes kirilowii maxim. into the two collection frames 32 respectively. A color sorting camera and a pushing mechanism (not shown in the figure) are arranged in the sorting box 61. The color sorting camera is used for taking pictures of the trichosanthes kirilowii maxim. and identifying the maturity of the trichosanthes kirilowii maxim. according to the skin color of the trichosanthes kirilowii maxim. The pushing mechanism is used for pushing the immature trichosanthes kirilowii maxim. to the immature trichosanthes kirilowii maxim. outlet, and the mature trichosanthes kirilowii maxim. directly enters the collection frame 32 through the mature trichosanthes kirilowii maxim. outlet, realizing the classified collection of the trichosanthes kirilowii maxim.

[0038] The conveying mechanism 50 includes a mounting frame 51 provided at the bottom of the picking box 42. A collection hopper 52 is fixedly provided on the front side of the mounting frame 51. The feed inlet of the collection hopper 52 is located below the fixed blade and is used to collect the trichosanthes kirilowii cut by the reciprocating cutter 44. A conveying hose 53 is provided at the bottom discharge port of the collection hopper 52. The discharge end of the conveying hose 53 is connected to the feed hopper 62, and the picked trichosanthes kirilowii is conveyed to the sorting mechanism 60 through the conveying hose 53 for sorting.

[0039] In this embodiment, the working principle of the trichosanthes kirilowii picking and sorting integrated machine is as follows: The staff drives the walkable vehicle body 10 into the trichosanthes kirilowii field, controls the movement of the telescopic arm 4732 to adjust the height of the picking box 42, and then starts the driving motor 461 to drive the reciprocating cutter 44 to move, so that the vibrating plate 45 and the guiding assembly 47 move synchronously to pick the trichosanthes kirilowii; the trichosanthes kirilowii cut off by the reciprocating cutter 44 falls into the collection hopper 52, is conveyed to the feed hopper 62 through the conveying hose 53, then enters the sorting box 61 for sorting, and finally reaches the collection frame 32.

[0040] The above is only the preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A Trichosanthes kirilowii picking and sorting integrated machine, characterized in that: It includes a walkable vehicle body (10). A working platform (20) is arranged on the front side of the walkable vehicle body (10). A collection mechanism (30), a picking mechanism (40), a conveying mechanism (50), and a sorting mechanism (60) are arranged on the working platform (20). The collection mechanism (30) includes a collection rack (31) arranged on the working platform (20), and two collection boxes (32) are placed in the collection rack (31); the picking mechanism (40) includes a robotic arm (41) arranged on the top of the collection rack (31). A picking box (42) is horizontally rotatably arranged at the overhanging end of the robotic arm (41). A fixed cutter (43) is horizontally arranged on the front side of the picking box (42). A reciprocating cutter (44) is slidably arranged along the length direction of the fixed cutter (43). A notch (421) is formed on the front side of the top surface of the picking box (42). A horizontally arranged rotating shaft (422) is rotatably arranged in the notch (421). A vibrating plate (45) extending forward is fixedly arranged on the rotating shaft (422). A plurality of rake teeth (451) are arranged at intervals on the front side plate edge of the vibrating plate (45). The front ends of the rake teeth (451) are located in front of the cutting edge of the reciprocating cutter (44), and the rear ends are located behind the cutting edge of the reciprocating cutter (44). A plurality of first hemispheres (452) are arranged at intervals along the length direction of the reciprocating cutter (44) on the lower plate surface of the vibrating plate (45). A plurality of second hemispheres (441) corresponding to the first hemispheres (452) are arranged on the reciprocating cutter (44). A driving assembly (46) for driving the reciprocating cutter (44) to reciprocate is arranged in the picking box (42); the conveying mechanism (50) is used to convey the picked trichosanthes kirilowii to the sorting mechanism (60), and the sorting mechanism (60) is used to identify the maturity of the trichosanthes kirilowii and convey the mature and immature trichosanthes kirilowii to the two collection boxes (32) respectively. The driving assembly (46) includes a driving motor (461) and a reciprocating plate (462). Guiding components (47) are also arranged at both ends of the reciprocating cutter (44) on the front side of the picking box (42). The guiding components (47) include vertically arranged rotating shafts (471). A rotating disk (472) is arranged at the top end of the rotating shaft (471). A plurality of guiding arms (473) are annularly arranged on the disk edge of the rotating disk (472). The height of the guiding arms (473) is located between the rake teeth (451) and the reciprocating cutter (44). The guiding component (47) includes a support frame (474) arranged at the front side of the picking box (42) and located at both ends of the reciprocating cutter (44). A circular block (475) is arranged on the support frame (474). The rotating shaft (471) is rotatably arranged on the circular block (475) and is concentrically arranged with the circular block (475). A circular ring chute (476) is formed on the top surface of the circular block (475). The center of the circular ring chute (476) is located on the side of the rotating shaft (471) away from the reciprocating cutter (44). A plurality of sliding blocks (477) are slidably arranged in the circular ring chute (476). The guiding arm (473) includes a fixed tube (4731) arranged radially along the rotating disc (472) and a telescopic arm (4732) slidably arranged in the fixed tube (4731). The bottom of the outer end of the telescopic arm (4732) is hinged with a first connecting rod (478). One end of the first connecting rod (478) away from the telescopic arm (4732) is hinged with a second connecting rod (479). One end of the second connecting rod (479) away from the first connecting rod (478) is hinged with the top end of the sliding block (477). The lower end of the rotating shaft (471) passes through the circular block (475) and is provided with a driven roller. Two driving rollers (468) are arranged on the output shaft of the driving motor (461). The two driving rollers (468) are respectively connected with the driven rollers of the two guiding components (47) through a synchronous belt (469).

2. The integrated machine for picking and sorting trichosanthes kirilowii Maxim. according to claim 1, characterized in that: The front end of the rake tooth (451) is integrally in a downward arc shape. Torsion springs (423) are arranged at both ends of the rotating shaft (422). The torsion springs (423) provide a downward elastic force for the vibrating plate (45).

3. The integrated trichosanthes kirilowii picking and sorting machine according to claim 1, characterized in that: The reciprocating plate (462) is slidably arranged in the picking box (42) along the length direction of the reciprocating cutter (44), and reciprocating teeth (463) are arranged on the side edges of its two side plates. Rotating shafts (464) are rotatably arranged in the picking box (42) on the front and rear sides of the reciprocating plate (462). A driven gear (465) and a sector driving gear (466) are coaxially arranged on the rotating shaft (464). The sector driving gears (466) on the two rotating shafts (464) are arranged in the same direction and are intermittently engaged with the corresponding reciprocating teeth (463). The driving motor (461) is arranged in the picking box (42), and a driving gear (467) is arranged on its output shaft. The driving gear (467) is located between the two driven gears (465) and is engaged with the two driven gears (465). A connecting plate (442) protrudes into the picking box (42) from the rear side of the reciprocating cutter (44). The bottom of the connecting plate (442) is fixedly connected with the reciprocating plate (462).

4. The integrated trichosanthes kirilowii picking and sorting machine according to claim 1, characterized in that: The sorting mechanism (60) includes a sorting box (61) arranged on the front side of the collection rack (31). An inlet hopper (62) is arranged on one side of the sorting box (61) away from the collection rack (31), and a mature trichosanthes kirilowii outlet and an immature trichosanthes kirilowii outlet are arranged near the collection rack (31). Outlet pipes (63) are arranged at both the mature trichosanthes kirilowii outlet and the immature trichosanthes kirilowii outlet. The discharge ends of the two outlet pipes (63) pass through the collection rack (31) and are respectively arranged above the two collection frames (32). A color sorting camera and a pushing mechanism are arranged in the sorting box (61). The color sorting camera is used for taking photos of trichosanthes kirilowii and identifying the maturity of trichosanthes kirilowii according to the skin color of trichosanthes kirilowii, and the pushing mechanism is used for pushing the immature trichosanthes kirilowii to the immature trichosanthes kirilowii outlet.

5. The integrated machine for trichosanthes kirilowii picking and sorting according to claim 4, characterized in that: The conveying mechanism (50) includes a mounting rack (51) arranged at the bottom of the picking box (42). A collection hopper (52) is fixedly arranged on the front side of the mounting rack (51). The feed inlet of the collection hopper (52) is located below the fixed blade. A conveying hose (53) is arranged at the bottom discharge outlet of the collection hopper (52), and the discharge end of the conveying hose (53) is connected to the inlet hopper (62).

Images