Dicing equipment and dicing method for potatoes

Abstract

The invention provides dicing equipment for potatoes and a dicing method. The dicing equipment comprises a control mechanism, a rotating disc mechanism, a driving device, a detection scanning mechanism, a clamping mechanism, a cutting mechanism, a plurality of overturning discharging mechanisms and a plurality of positioning mechanisms. The plurality of turnover discharging mechanisms are circumferentially and uniformly arranged on the upper end surface of a rotary table of the rotary table mechanism, the turnover end of each turnover discharging mechanism is correspondingly provided with one positioning mechanism, and the positioning mechanisms are used for clamping and positioning potato seeds; according to the dicing equipment and the dicing method for the potatoes, the problem that potato seed resources are greatly wasted due to the fact that a potato dicing machine in the related technology is lack of a bud eye recognition function and an intelligent dicing function is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of potato processing, and in particular relates to a cutting device and a cutting method for potatoes. Background Art

[0002] Potatoes rely on their tubers for asexual reproduction. Each potato individual is densely covered with numerous bud eyes, and each of these bud eyes has the potential to develop into an independent plant after sowing. However, when multiple plants grow closely together, it will not only severely restrict the yield and quality of potatoes, but also cause a great waste of seeds, thereby driving up production costs. In view of this, before the arrival of the sowing season every year, agricultural producers will take a key step - scientifically cutting potato seeds to cultivate cut potato pieces. After careful cultivation, these potato pieces will grow into healthy and independent potato plants.

[0003] Traditional manual cutting methods are not only inefficient but also accompanied by high labor costs. Although the existing automatic potato seed cutting machines on the market have achieved mechanized operation to a certain extent, due to the lack of bud eye recognition function and intelligent cutting function in the relevant technologies of potato cutting machines, during the cutting process, the bud eyes are easily mis-cut, leading to a great waste of potato seed resources. Summary of the Invention

[0004] In view of this, the present invention aims to solve at least one of the related technical problems to some extent.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] A cutting device for potatoes, comprising a control mechanism, a turntable mechanism, a driving device, a detection and scanning mechanism, a clamping mechanism, a cutting mechanism, a plurality of flipping and discharging mechanisms, and a plurality of positioning mechanisms;

[0007] The plurality of flipping and discharging mechanisms are arranged in a circumferentially uniform manner on the upper end surface of the turntable of the turntable mechanism, and a corresponding positioning mechanism is provided at the flipping end of each flipping and discharging mechanism, and the positioning mechanism is used for clamping and positioning potato seeds;

[0008] The detection and scanning mechanism is arranged on one side of the turntable mechanism, the clamping mechanism is arranged on the other side of the turntable mechanism, the detection and scanning mechanism is used for comprehensively scanning potato seeds to capture the distribution of bud eyes on the potato seeds, the clamping mechanism is used for clamping potato seeds to ensure its stability during the cutting process, and the cutting mechanism cuts the potato seeds clamped and fixed by the clamping mechanism;

[0009] The driving device is used for driving the turntable mechanism to rotate;

[0010] The driving device, the detection and scanning mechanism, the clamping mechanism, the cutting mechanism, the plurality of flipping and blanking mechanisms and the plurality of positioning mechanisms are all connected to the control mechanism.

[0011] Further, the flipping and blanking mechanism includes a first driving motor, a flipping base and two fixing plates. Both the front and rear ends of the flipping base are rotatably connected to a fixing plate through a rotating shaft. The two fixing plates are arranged on the turntable of the turntable mechanism. The output end of the first driving motor drives the flipping base to rotate through a rotating shaft. The top end face of the flipping base is connected to the positioning mechanism. A blanking port is arranged at the edge position of the turntable of the turntable mechanism, and the blanking port is opposite to the flipping base.

[0012] Further, the positioning mechanism includes a first hydraulic cylinder body, a first hydraulic rod, a material tray, a first connecting frame, a plurality of positioning support rods and a plurality of tray clamping claws. The plurality of positioning support rods are uniformly arranged on the upper end face of the first hydraulic cylinder body. The positioning support rods are used to support the material tray. The bottom of the first hydraulic rod is connected to the output end of the first hydraulic cylinder body. The top of the first hydraulic rod is connected to the first connecting frame. The plurality of tray clamping claws are evenly distributed on the outer side of the logistics tray. The outer side of each tray clamping claw is connected to the first connecting frame through a connecting rod. The inner side of the tray clamping claw is hinged to the material tray, and the outer side of the tray clamping claw is hinged to the connecting rod.

[0013] Further, the clamping mechanism includes two circular slide rails, a plurality of sliding connecting rods, a plurality of clamping components and a plurality of angle adjustment mechanisms. The two circular slide rails are symmetrically arranged up and down. The two circular slide rails are fixedly connected through a plurality of supports. The plurality of angle adjustment mechanisms are arranged in a circular arrangement inside the circular slide rail located below. The circular slide rail located above is provided with a T-shaped sliding groove. A sliding connecting rod is correspondingly arranged on each angle adjustment mechanism. The bottom of the sliding connecting rod is connected to the angle adjustment mechanism. The top of the sliding connecting rod is slidably matched with the T-shaped sliding groove through a T-shaped block. A clamping component is correspondingly arranged at the bottom of each angle adjustment mechanism.

[0014] Further, the angle adjustment mechanism includes a second connecting frame, an ear plate, a second driving motor, a first driving gear, a fixed gear, and two positioning gears. The second driving motor is disposed on the second connecting frame, and an output end of the second driving motor is connected to the first driving gear. The first driving gear meshes with the fixed gear. The two positioning gears are symmetrically disposed on two sides of the second connecting frame. Each positioning gear is connected to the second connecting frame through an L-shaped connecting rod. An inner wall of the circular slide rail located below is provided with a toothed structure. The fixed gear and the two positioning gears are both meshed with the toothed structure. The ear plate is disposed at a bottom of the second connecting frame. The ear plate is connected to the clamping assembly. A bottom of the sliding connecting rod is connected to the second connecting frame.

[0015] Further, the positioning assembly includes a stepping motor, a second hydraulic rod, a second hydraulic cylinder body, and a flexible suction cup. The stepping motor is disposed on the ear plate. An output end of the stepping motor is connected to a fixed end of the second hydraulic cylinder body. An output end of the second hydraulic cylinder body is connected to the second hydraulic rod. The flexible suction cup is disposed at an outer end of the second hydraulic rod.

[0016] Further, the cutting mechanism includes a base, a base cover plate, a first swing arm, a second swing arm, a third swing arm, a third connecting frame, a fixed frame, a telescopic rod, a cutting tool, and two nozzles. The base is provided with a rotating motor for enabling the base cover plate to rotate. One end of the first swing arm is connected to the base, and the other end of the first swing arm is connected to the second swing arm. One end of the third swing arm is connected to the second swing arm, and the other end of the third swing arm is connected to the third connecting frame. The fixed frame is fixedly connected to the third connecting frame. The fixed frame is provided with a third driving motor. The telescopic rod can telescopically slide on the fixed frame. The telescopic rod is provided with a rack. The third driving motor meshes with the rack through a second driving gear. The cutting tool is disposed at an end of the telescopic rod. The two nozzles are symmetrically disposed on two sides of the cutting tool. The two nozzles are both disposed on the telescopic rod.

[0017] Further, the detection and scanning mechanism includes a bottom plate, a connecting rod, a lifting frame, and two 3D scanners. The bottom plate is located at a bottom of the connecting rod. The lifting frame is disposed on the connecting rod. The two 3D scanners are symmetrically disposed on the lifting frame. The 3D scanners are used for scanning potato seeds. The lifting frame can be connected to different height positions of the connecting rod through screws.

[0018] Further, the turntable mechanism includes a support base, a driving support rod, a driving rod, a divider, a belt pulley, a rotating turntable, a rotating frame, a plurality of guiding rollers, a plurality of rotating rollers and a plurality of turntable support rods. The plurality of turntable support rods are evenly distributed on the upper end surface of the support base. The bottom of the driving support rod is fixedly connected to the support base. The upper part of the driving support rod is rotatably connected to the driving rod. The divider and the belt pulley are arranged on the driving rod. The rotating frame is arranged in the middle of the lower end surface of the rotating turntable. The plurality of rotating rollers are evenly distributed on the rotating frame. The rotating rollers cooperate with the divider. The belt pulley is connected to the driving device. The top of the turntable support rod cooperates with the rotating turntable through the guiding roller.

[0019] A method for cutting potatoes. When using the above-mentioned potato cutting equipment, it includes the following steps:

[0020] Step 1: Convey the potato seeds to the clamping tray on the turntable mechanism through the feeding mechanism, and the tray claws clamp the potato seeds to complete the accurate positioning and attitude stabilization of the potato seeds.

[0021] Step 2: The driving device drives the turntable mechanism to rotate and transfer the potato seeds to the scanning station of the detection and scanning mechanism.

[0022] Step 3: After the lifting rod adjusts the 3D scanner to the corresponding detection height, perform the acquisition of depth images and color images, generate a three-dimensional model of the potato seeds through the point cloud data fusion algorithm, and automatically mark the distribution of the eyes and plan the optimal cutting path through the intelligent recognition system.

[0023] Step 4: The turntable mechanism transfers the potato seeds to the waiting clamping area of the clamping mechanism to prepare for the next operation.

[0024] Step 5: After the second driving motor in the clamping mechanism receives the instruction, the second hydraulic rod of the clamping assembly is precisely adjusted to the predetermined position through the second hydraulic cylinder body to perform multiple stable clamps on the potato seeds to ensure the stability and accuracy during the cutting process.

[0025] Step 6: After the potato seeds are firmly fixed, the cutting mechanism accurately moves to the corresponding cutting position according to the three-dimensional reconstruction image data, the nozzle sprays potassium permanganate solution to fully disinfect the cutting knife to prevent cross-infection, and the third driving motor at the cutting knife is started to perform the cutting operation on the potato seeds.

[0026] Step 7: After the cutting is completed, the telescopic rod quickly retracts to the safe position, the clamping mechanism is recycled synchronously, the turntable mechanism rotates again, and the cut potato seeds are transported to the blanking area. The flipping blanking mechanism is started to perform the flipping action. At the same time, the tray claws on the clamping tray are loosened in a timely manner, and the potato seed pieces fall smoothly into the designated position, and the entire blanking process ends.

[0027] Compared with the prior art, the potato cutting device and method of the present invention have the following advantages:

[0028] 1. The detection and scanning mechanism uses a 3D scanner to comprehensively scan potato seeds, which can accurately capture the details on the surface of the seeds, such as the distribution of bud eyes, thereby providing accurate data support for the subsequent cutting process. The lifting frame can adjust the height position of the 3D scanner as needed to ensure the best detection effect when scanning potato seeds of different sizes or shapes. The collected point cloud data can be fused and analyzed to generate a high-precision three-dimensional model, assisting the intelligent recognition system to quickly make a cutting path plan and improving the automation level.

[0029] 2. The stable clamping of potato seeds is achieved through multiple clamping components and the angle adjustment mechanism, ensuring that there is no position deviation or shaking during the cutting process and improving the processing accuracy. The angle adjustment mechanism allows the clamping components to be appropriately adjusted according to the shape of the potato seeds, adapting to seeds of different sizes and shapes and improving the versatility of the device.

[0030] 3. Through the combined use of a hydraulic rod and a hydraulic cylinder body, accurate positioning of potato seeds can be achieved, ensuring that each seed can be cut at the best position and improving the cutting accuracy. The combination of the material tray and the positioning support rod provides stable support, reducing the position deviation caused by shaking and ensuring the stability of the seeds during the cutting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 is a schematic structural diagram of a potato cutting device according to an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of a detection and scanning mechanism according to an embodiment of the present invention;

[0035] Figure 4 is a schematic structural diagram of a positioning mechanism according to an embodiment of the present invention;

[0036] Figure 5 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;

[0037] Figure 6Schematic structural diagram of the turntable mechanism according to an embodiment of the present invention;

[0038] Figure 7 Schematic structural diagram of the combination structure of the indexing device and the rotating roller according to an embodiment of the present invention.

[0039] Explanation of reference numerals:

[0040] 1. Cutting mechanism; 2. Clamping mechanism; 4. Turntable mechanism; 5. Driving device; 6. Positioning mechanism; 7. Detection and scanning mechanism; 8. Inverting and blanking mechanism; 9. Base; 10. First swing arm; 11. Second swing arm; 12. Telescopic rod; 13. Fixed frame; 14. Third driving motor; 15. Nozzle; 16. Cutter; 17. Third connecting frame; 18. Third swing arm; 19. Base cover plate; 20. Support frame; 21. Driving gear; 22. Circular slide rail; 23. Support structure; 24. Tooth-shaped structure; 25. Positioning gear; 26. Fixed gear; 27. Second connecting frame; 28. Stepper motor; 29. Second hydraulic cylinder body; 30. Second driving motor; 31. Second hydraulic rod; 32. Flexible suction cup; 33. 3D scanner; 34. Base plate; 35. Connecting rod; 36. Lifting frame; 37. Connecting rod; 38. Positioning support rod; 39. First hydraulic cylinder body; 40. First hydraulic rod; 41. First connecting frame; 42. Tray gripper; 43. Material tray; 44. Belt pulley; 45. Turntable support rod; 46. Support base; 47. Driving support rod; 48. Guide roller; 49. Indexing device; 491. Rotating frame; 492. Rotating roller; 50. Rotating turntable; 51. Inverting base; 52. First driving motor. Detailed implementation manners

[0041] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0042] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0044] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0045] A potato cutting device, as Figure 1 shown, includes a control mechanism, a turntable mechanism 4, a driving device 5, a detection and scanning mechanism 7, a clamping mechanism 2, a cutting mechanism 1, six turning and discharging mechanisms 8, and six positioning mechanisms 6; the six turning and discharging mechanisms 8 are arranged in a circumferentially uniform manner on the upper end surface of the turntable of the turntable mechanism 4, and a positioning mechanism 6 is correspondingly arranged at the turning end of each turning and discharging mechanism 8, and the positioning mechanism 6 is used for clamping and positioning potato seeds;

[0046] The detection and scanning mechanism 7 is arranged on one side of the turntable mechanism 4, the clamping mechanism 2 is arranged on the other side of the turntable mechanism 4, the detection and scanning mechanism 7 is used for comprehensively scanning the potato seeds to capture the distribution of the eyes on the potato seeds, the clamping mechanism 2 is used for clamping the potato seeds to ensure its stability during the cutting process, and the cutting mechanism 1 cuts the potato seeds clamped and fixed by the clamping mechanism 2; the driving device 5 is used for driving the turntable mechanism 4 to rotate;

[0047] The driving device 5, the detection and scanning mechanism 7, the clamping mechanism 2, the cutting mechanism 1, the multiple turning and discharging mechanisms 8, and the multiple positioning mechanisms 6 are all connected to the control mechanism.

[0048] The turning and discharging mechanism 8 includes a first driving motor 52, a turning base 51, and two fixing plates. Both the front and rear ends of the turning base 51 are rotatably connected to a fixing plate through a rotating shaft. The two fixing plates are arranged on the turntable of the turntable mechanism 4. The output end of the first driving motor 52 drives the turning base 51 to rotate through a rotating shaft. The top end surface of the turning base 51 is connected to the positioning mechanism 6, and a discharging port is provided at the edge position of the turntable of the turntable mechanism 4, and the discharging port is directly opposite to the turning base 51.

[0049] The positioning mechanism 6 includes a first hydraulic cylinder body 39, a first hydraulic rod 40, a material tray 43, a first connecting frame 41, a plurality of positioning support rods 38 and a plurality of tray grippers 42. The plurality of positioning support rods 38 are uniformly arranged on the upper end surface of the first hydraulic cylinder body 39, and the positioning support rods 38 are used to support the material tray 43. The bottom of the first hydraulic rod 40 is connected to the output end of the first hydraulic cylinder body 39, and the top of the first hydraulic rod 40 is connected to the first connecting frame 41. The plurality of tray grippers 42 are evenly distributed on the outer side of the logistics tray. The outer side of each tray gripper 42 is connected to the first connecting frame 41 through a connecting rod 35. The inner side of the tray gripper 42 is hinged to the material tray 43, and the outer side of the tray gripper 42 is hinged to the connecting rod 35. By combining the use of the hydraulic rod and the hydraulic cylinder body, the precise positioning of the potato seeds can be achieved, ensuring that each seed can be cut at the best position and improving the cutting accuracy. The combination of the material tray 43 and the positioning support rods 38 provides stable support, reduces the position deviation caused by shaking, and ensures the stability of the seeds during the cutting process.

[0050] The clamping mechanism 2 includes two circular slide rails 22, a plurality of sliding connecting rods, a plurality of clamping components and a plurality of angle adjustment mechanisms. The two circular slide rails 22 are symmetrically arranged up and down. The two circular slide rails 22 are fixedly connected by a plurality of support nodes 23. The plurality of angle adjustment mechanisms are arranged in a circular arrangement on the inner side of the circular slide rail 22 located below. The circular slide rail 22 located above is provided with a T-shaped chute. A sliding connecting rod is correspondingly arranged on each angle adjustment mechanism. The bottom of the sliding connecting rod is connected to the angle adjustment mechanism, and the top of the sliding connecting rod is slidably matched with the T-shaped chute through a T-shaped block. A clamping component is correspondingly arranged at the bottom of each angle adjustment mechanism. The stable clamping of the potato seeds is realized through the plurality of clamping components and the angle adjustment mechanisms, ensuring that there is no position deviation or shaking during the cutting process and improving the processing accuracy. The angle adjustment mechanism allows the clamping component to be appropriately adjusted according to the shape of the potato seeds, adapts to seeds of different sizes and shapes, and improves the versatility of the equipment.

[0051] The angle adjustment mechanism includes a second connecting frame 27, an ear plate, a second driving motor 30, a first driving gear 21, a fixed gear 26 and two positioning gears 25. The second driving motor 30 is arranged on the second connecting frame 27. The output end of the second driving motor 30 is connected to the first driving gear 21. The first driving gear 21 meshes with the fixed gear 26. The two positioning gears 25 are symmetrically arranged on both sides of the second connecting frame 27. Each positioning gear 25 is connected to the second connecting frame 27 through an L-shaped connecting rod. The inner wall of the circular slide rail 22 located below is provided with a toothed structure 24. The fixed gear 26 and the two positioning gears 25 are both meshed with the toothed structure 24. The ear plate is arranged at the bottom of the second connecting frame and is connected to the clamping component. The bottom of the sliding connecting rod is connected to the second connecting frame 27.

[0052] The positioning component includes a stepping motor 28, a second hydraulic rod 31, a second hydraulic cylinder body 29 and a flexible suction cup 32. The stepping motor 28 is arranged on the ear plate. The output end of the stepping motor 28 is connected to the fixed end of the second hydraulic cylinder body 29. The output end of the second hydraulic cylinder body 29 is connected to the second hydraulic rod 31. The flexible suction cup 32 is arranged at the outer end of the second hydraulic rod 31.

[0053] The cutting mechanism 1 includes a base 9, a base cover plate 19, a first swing arm 10, a second swing arm 11, a third swing arm 18, a third connecting frame 17, a fixed frame 13, a telescopic rod 12, a cutting tool 16 and two nozzles 15. The base 9 is provided with a rotary motor for realizing the rotation of the base cover plate 19. One end of the first swing arm 10 is connected to the base cover plate 19, and the other end of the first swing arm 10 is connected to the second swing arm 11. One end of the third swing arm 18 is connected to the second swing arm 11, and the other end of the third swing arm 18 is connected to the third connecting frame 17. The fixed frame 13 is fixedly connected to the third connecting frame 17. The fixed frame 13 is provided with a third driving motor 14. The telescopic rod 12 can telescopically slide on the fixed frame 13. The telescopic rod 12 is provided with a rack. The third driving motor 14 is meshed with the rack through a second driving gear 21. The cutting tool 16 is arranged at the end of the telescopic rod 12. The two nozzles 15 are symmetrically arranged on both sides of the cutting tool 16. Both of the two nozzles 15 are arranged on the telescopic rod 12. The connections between the base cover plate 19, the first swing arm 10, the second swing arm 11 and the third swing arm 18 are all connected through a driving component. The driving component is composed of existing positioning pins, motors and bearings, and is used to realize the mutual swinging between two components.

[0054] The detection and scanning mechanism 7 includes a bottom plate 34, a connecting rod 35, a lifting frame 36 and two 3D scanners 33. The bottom plate 34 is located at the bottom of the connecting rod 35. The lifting frame 36 is arranged on the connecting rod 35. The two 3D scanners 33 are symmetrically arranged on the lifting frame 36. The 3D scanners 33 are used to scan potato seeds. The lifting frame 36 can be connected to different height positions of the connecting rod 35 through screws. The detection and scanning mechanism 7 uses the 3D scanners 33 to comprehensively scan the potato seeds, and can accurately capture the details on the surface of the seeds, such as the distribution of bud eyes, so as to provide accurate data support for the subsequent cutting process. The lifting frame 36 can adjust the height position of the 3D scanners 33 according to needs to ensure that the best detection effect can be obtained when scanning potato seeds of different sizes or shapes. The collected point cloud data can be fused and analyzed to generate a high-precision three-dimensional model, which assists the intelligent recognition system to quickly make a cutting path plan and improve the automation level.

[0055] The driving device 5 includes a fourth driving motor and a belt. The turntable mechanism 4 includes a support base 46, a driving support rod 47, a driving rod, a divider 49, a pulley 44, a rotating turntable 50, a rotating frame 491, a plurality of guide rollers 48, six rotating rollers 492, and four turntable support rods 4538. The plurality of turntable support rods 4538 are evenly distributed on the upper end surface of the support base 46. The bottom of the driving support rod 47 is fixedly connected to the support base 46. The upper part of the driving support rod 47 is rotatably connected to the driving rod. The divider 49 and the pulley 44 are drivingly arranged. A rotating frame 491 is arranged in the middle of the lower end surface of the rotating turntable 50. The plurality of rotating rollers 492 are evenly distributed on the rotating frame 491. The rotating rollers 492 cooperate with the divider 49. The pulley 44 is connected to the driving device 5. The top of the turntable support rod 4538 cooperates with the rotating turntable 50 through the guide roller 48. The fourth driving motor is connected to the pulley 44 through a belt.

[0056] The working mode of this example

[0057] A method for cutting potatoes. When using the above-mentioned potato cutting equipment, where the control mechanism is an existing central control machine, and the potato seed tuber cutting method is preset in the central control machine. Specifically, the method "ZL201910488310.5 A method for cutting potato seed tubers based on a point cloud model" is adopted, and it includes the following steps:

[0058] Step 1: The potato seed tubers are conveyed to the clamping tray on the turntable mechanism 4 through the feeding mechanism, and the tray claws 42 clamp the potato seed tubers to complete the precise positioning and attitude stabilization of the potato seed tubers.

[0059] Step 2: The driving device 5 drives the turntable mechanism 4 to rotate and transfers the potato seed tubers to the scanning station of the detection and scanning mechanism 7.

[0060] Step 3: After the lifting rod adjusts the 3D scanner 33 to the corresponding detection height, depth image and color image acquisition are performed. A three-dimensional model of the potato seed tuber is generated through a point cloud data fusion algorithm, and the distribution of the eyes is automatically marked and the optimal cutting path is planned through an intelligent recognition system.

[0061] Step 4: The turntable mechanism 4 transfers the potato seed tubers to the waiting clamping area of the clamping mechanism 2 to prepare for the next operation.

[0062] Step 5: After receiving the instruction, the second driving motor 30 in the clamping mechanism 2 precisely adjusts the second hydraulic rod 31 of the clamping assembly to a predetermined position through the second hydraulic cylinder body 29, and multiple stable clamps are applied to the potato seed tubers to ensure the stability and accuracy during the cutting process.

[0063] Step Six: After the potato seeds are firmly fixed, the cutting mechanism 1 accurately moves to the corresponding cutting position according to the three-dimensional reconstruction image data, and the nozzle 15 sprays potassium permanganate solution to thoroughly disinfect the cutter 16 to prevent cross-infection. The third drive motor 14 at the cutter 16 is started to perform the cutting operation on the potato seeds;

[0064] Step Seven: After the cutting is completed, the telescopic rod 12 quickly retracts to a safe position, and the clamping mechanism 2 is recycled synchronously. The turntable mechanism 4 operates again to transport the cut potato seeds to the feeding area. The flipping feeding mechanism 8 is started to perform the flipping action. At the same time, the tray claws 42 on the clamping tray are loosened in a timely manner, and the potato seed pieces smoothly fall into the designated position, ending the entire feeding process.

[0065] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A potato cutting device, characterized in that: A control mechanism, a turntable mechanism (4), a driving device (5), a detection and scanning mechanism (7), a clamping mechanism (2), a cutting mechanism (1), a plurality of turning and unloading mechanisms (8) and a plurality of positioning mechanisms (6); A plurality of the flipping and unloading mechanisms (8) are evenly arranged in a circumference on the upper end surface of the turntable of the turntable mechanism (4), and a positioning mechanism (6) is correspondingly arranged at the flip end of each flipping and unloading mechanism (8), and the positioning mechanism (6) is used to clamp and position potato seed potatoes; The detection scanning mechanism (7) is arranged on one side of the turntable mechanism (4), and the clamping mechanism (2) is arranged on the other side of the turntable mechanism (4); the detection scanning mechanism (7) is used to perform a comprehensive scan on the seed potatoes to capture the distribution of buds on the seed potatoes; the clamping mechanism (2) is used to clamp the seed potatoes to ensure that they remain stable during the slicing process; and the cutting mechanism (1) slices the seed potatoes that are clamped and fixed by the clamping mechanism (2); The driving device (5) is used to drive the turntable mechanism (4) to rotate; The driving device (5), the detection scanning mechanism (7), the clamping mechanism (2), the cutting mechanism (1), the plurality of turning and unloading mechanisms (8) and the plurality of positioning mechanisms (6) are all connected to the control mechanism.

2. A potato cutting device according to claim 1, characterized in that: The flipping and unloading mechanism (8) comprises a first driving motor (52), a flipping base (51) and two fixed plates. The front and rear ends of the flipping base (51) are rotatably connected to a fixed plate via a rotating shaft. The two fixed plates are arranged on a turntable of a turntable mechanism (4). The output end of the first driving motor (52) drives the flipping base (51) to rotate via a rotating shaft. The top end surface of the flipping base (51) is connected to the positioning mechanism (6). A unloading port is arranged at the edge of the turntable of the turntable mechanism (4), and the unloading port is directly opposite to the flipping base (51).

3. A potato cutting device according to claim 2, characterized in that: The positioning mechanism (6) comprises a first hydraulic cylinder body (39), a first hydraulic rod (40), a material tray (43), a first connecting frame (41), a plurality of positioning support rods (38) and a plurality of tray clamps (42). The plurality of positioning support rods (38) are evenly arranged on the upper end surface of the first hydraulic cylinder body (39). The positioning support rods (38) are used to support the material tray (43). The bottom of the first hydraulic rod (40) is connected to the output end of the first hydraulic cylinder body (39), and the top of the first hydraulic rod (40) is connected to the first connecting frame (41). The plurality of tray clamps (42) are evenly distributed on the outer side of the logistics tray. The outer side of each tray clamp (42) is connected to the first connecting frame (41) via a connecting rod (35). The inner side of the tray clamp (42) is hinged to the material tray (43), and the outer side of the tray clamp (42) is hinged to the connecting rod (35).

4. A potato cutting device according to claim 1, characterized in that: The clamping mechanism (2) includes two circular slide rails (22), a plurality of sliding links, a plurality of clamping assemblies and a plurality of angle adjustment mechanisms. The two circular slide rails (22) are symmetrically arranged up and down. The two circular slide rails (22) are fixedly connected by a plurality of support joints (23). The plurality of angle adjustment mechanisms are arranged in a circular arrangement on the inner side of the circular slide rail (22) located at the bottom. The circular slide rail (22) located at the top is provided with a T-shaped slide groove. A sliding link is correspondingly arranged on each of the angle adjustment mechanisms. The bottom of the sliding link is connected to the angle adjustment mechanism. The top of the sliding link is slidably matched with the T-shaped slide groove through a T-shaped block. A clamping assembly is correspondingly arranged at the bottom of each of the angle adjustment mechanisms.

5. A potato cutting device according to claim 4, characterized in that: The angle adjustment mechanism comprises a second connecting frame (27), an ear plate, a second driving motor (30), a first driving gear (21), a fixed gear (26) and two positioning gears (25); the second driving motor (30) is arranged on the second connecting frame (27); the output end of the second driving motor (30) is connected to the first driving gear (21); the first driving gear (21) is meshed with the fixed gear (26); the two positioning gears (25) are symmetrically arranged on both sides of the second connecting frame (27); each positioning gear (25) is connected to the second connecting frame (27) through an L-shaped connecting rod; the inner wall of the circular slide rail (22) located below is provided with a toothed structure (24); the fixed gear (26) and the two positioning gears (25) are meshed with the toothed structure (24); the ear plate is arranged at the bottom under the second connection; the ear plate is connected to the clamping assembly; the bottom of the sliding connecting rod is connected to the second connecting frame (27).

6. A potato cutting device according to claim 5, characterized in that: The positioning assembly comprises a stepper motor (28), a second hydraulic rod (31), a second hydraulic cylinder body (29) and a flexible suction cup (32); the stepper motor (28) is arranged on the ear plate; the output end of the stepper motor (28) is connected to the fixed end of the second hydraulic cylinder body (29); the output end of the second hydraulic cylinder body (29) is connected to the second hydraulic rod (31); and the flexible suction cup (32) is arranged at the outer end of the second hydraulic rod (31).

7. A potato cutting device according to any one of claims 1 to 6, characterized in that: The cutting mechanism (1) comprises a base (9), a base cover, a first swing arm (10), a second swing arm (11), a third swing arm (18), a third connecting frame (17), a fixing frame (13), a telescopic rod (12), a cutter (16) and two nozzles (15); the base (9) is provided with a rotating motor for realizing the rotation of the base cover; one end of the first swing arm (10) is connected to the base cover; the other end of the first swing arm (10) is connected to the second swing arm (11); one end of the third swing arm (18) is connected to the second swing arm (11); the other end of the third swing arm (18) is connected to the The telescopic rod (12) is connected to a third connecting frame (17) at one end, the fixing frame (13) is fixedly connected to the third connecting frame (17), the fixing frame (13) is provided with a third driving motor (14), the telescopic rod (12) can be telescopically slid on the fixing frame (13), the telescopic rod (12) is provided with a rack, the third driving motor (14) is meshed with the rack through a second driving gear (21), the cutter (16) is provided at the end of the telescopic rod (12), two nozzles (15) are symmetrically provided on both sides of the cutter (16), and the two nozzles (15) are both provided on the telescopic rod (12).

8. A potato cutting device according to claim 7, characterized in that: The detection scanning mechanism (7) comprises a base plate (34), a connecting rod (35), a lifting frame (36) and two 3D scanners (33); the base plate (34) is located at the bottom of the connecting rod (35); the lifting frame (36) is arranged on the connecting rod (35); the two 3D scanners (33) are symmetrically arranged on the lifting frame (36); the 3D scanner (33) is used to scan potato seed potatoes; the lifting frame (36) can be connected to the connecting rod (35) at different heights by screws.

9. A potato cutting device according to claim 7, characterized in that: The turntable mechanism (4) comprises a supporting base (46), a driving support rod (47), a driving rod, a divider (49), a pulley (44), a rotating turntable (50), a rotating frame (491), a plurality of guide rollers (48), a plurality of rotating rollers (492) and a plurality of turntable support rods (45) (38), wherein the plurality of turntable support rods (45) (38) are evenly distributed on the upper end surface of the supporting base (46), the bottom of the driving support rod (47) is fixedly connected to the supporting base (46), and the driving support rod (47) is rotatably connected to the driving rod at the top, the driving device is provided with the indexer (49) and the pulley (44), the rotating frame (491) is provided in the middle of the lower end surface of the rotating turntable (50), a plurality of rotating rollers (492) are evenly distributed on the rotating frame (491), the rotating rollers (492) cooperate with the indexer (49), the pulley (44) is connected to the driving device (5), and the top of the turntable support rod (45) (38) cooperates with the rotating turntable (50) through the guide roller (48).

10. A method for cutting potatoes, characterized in that: When using the potato cutting device according to any one of claims 7 to 10, the method comprises the following steps: Step 1: The seed potatoes are transported to the clamping tray on the turntable mechanism (4) by the feeding mechanism, and the tray clamping claws (42) clamp the seed potatoes to achieve accurate positioning and stable posture of the seed potatoes; Step 2: The driving device (5) drives the turntable mechanism (4) to rotate, and transports the seed potatoes to the scanning station of the detection scanning mechanism (7); Step 3: After the lifting rod adjusts the 3D scanner (33) to the corresponding detection height, the depth image and color image acquisition are performed, and a three-dimensional model of the potato seed potato is generated through a point cloud data fusion algorithm. The distribution of the buds is automatically marked and the optimal cutting path is planned through an intelligent recognition system; Step 4: The turntable mechanism (4) transfers the seed potatoes to the clamping area of ​​the clamping mechanism (2) to prepare for the next operation; Step 5: After receiving the command, the second driving motor (30) in the clamping mechanism (2) accurately adjusts the second hydraulic rod (31) of the clamping assembly to a predetermined position through the second hydraulic cylinder (29), thereby implementing multiple stable clamping of the seed potatoes to ensure stability and accuracy during the cutting process; Step 6: After the seed potatoes are firmly fixed, the cutting mechanism (1) moves accurately to the corresponding cutting position according to the three-dimensional reconstructed image data, the nozzle (15) sprays potassium permanganate solution to fully disinfect the cutter (16) to prevent cross infection, and the third drive motor (14) at the cutter (16) is started to cut the seed potatoes into pieces; Step 7: After the cutting is completed, the telescopic rod (12) is quickly withdrawn to a safe position, the clamping mechanism (2) is recovered simultaneously, the turntable mechanism (4) is operated again, the cut seed potatoes are transported to the unloading area, the flip unloading mechanism (8) is started, and the flipping action is performed. At the same time, the tray clamping claws (42) on the clamping tray are released in time, and the seed potato pieces fall smoothly into the designated position, and the whole unloading process is completed.

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