Synchronous fruit thinning and grading device for high-density strawberry planting

Abstract

The invention discloses a synchronous fruit thinning and grading device for high-density strawberry planting, and relates to the technical field of strawberry planting, the synchronous fruit thinning and grading device comprises a carrier and a mechanical arm, and further comprises a mounting frame, a plurality of partition plates are arranged at the lower end of the mounting frame, and avoiding assemblies are arranged on the sides, close to the carrier, of the partition plates; inserting rods are arranged on the two sides of the partition plate and the avoiding assembly. A cutting mechanism is connected to the left end of the partition plate below the mounting frame; the avoiding assembly comprises a bottom plate, a first plate, a second plate and a third plate, a first control assembly is arranged at the right end of the second plate, the right end of the second plate is rotationally connected with the third plate through the first control assembly, and a second control assembly is arranged in the third plate; fruits at all levels and corresponding stems and vines become vertical through the partition plates, and graded fruit thinning is carried out according to the growth heights of the fruits at different levels; and the formed fruits are protected through the structure of the position avoiding assembly, so that the equipment can quickly perform mechanical grading fruit thinning, meanwhile, the fruits are well protected, the fruit thinning efficiency is effectively improved, and the fruit thinning stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of strawberry cultivation, and specifically to a synchronous fruit thinning and grading device for high-density strawberry cultivation. Background Art

[0002] During the strawberry cultivation process, according to the order in which strawberries bear fruits, the fruits are graded. Refer to Figure 1 , where the first fruit borne is the first-grade fruit, and then arranged step by step. And due to its growth characteristics, the higher the grade of the fruit, the farther it is from the ground after being vertically pulled up; during the cultivation process, in order to ensure that the nutrients during the strawberry growth process are more concentrated and the final fruit quality is higher, generally, the fruits with lower grades need to be retained, and the fruits with higher grades that grow subsequently are removed.

[0003] In order to reduce the labor intensity of manual work, high-efficiency mechanical methods are usually used for fruit thinning; most traditional mechanical fruit thinning methods directly cut the vines above a certain height without discrimination according to the growth height of each grade of fruits. Its selection ability is weak, and for some higher-grade fruits with vines growing downward or lower-grade fruits with vines growing upward due to the obstruction of the growth space, it is easy to cause missed cutting or mis-cutting; resulting in a decrease in the final strawberry harvest. Summary of the Invention

[0004] The purpose of the present invention is to provide a synchronous fruit thinning and grading device for high-density strawberry cultivation to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A synchronous fruit thinning and grading device for high-density strawberry cultivation, including a robotic arm, and further including a mounting frame connected to the robotic arm. A plurality of partitions are longitudinally arranged in an array at the lower end of the mounting frame, and bevels are provided at the right ends of the partitions;

[0006] Insertion rods are provided on both sides of the partition;

[0007] A cutting mechanism is vertically slidably connected to the left end of the partition below the mounting frame, and the cutting mechanism is used for cutting strawberry vines.

[0008] Further, it further includes a carrier, and a plurality of the robotic arms are respectively arranged on the carrier.

[0009] Further, at least one avoidance component is provided on the side of the partition closest to the carrier close to the carrier; bevels are provided at the right ends of the avoidance components; insertion rods are provided on both sides of the avoidance components;

[0010] The avoidance component includes a bottom plate, a first plate, a second plate, and a third plate that can be telescoped. The right end of the third plate is provided with an oblique angle. The two ends of the bottom plate are fixedly connected to the insertion rods. The first plate is fixedly connected to the upper left side of the bottom plate. The upper end of the first plate is fixedly connected to the lower end of the mounting frame. The second plate is arranged on the right side of the first plate and is elastically slidably connected to the first plate. A first control component is arranged at the right end of the second plate. The right end of the second plate is rotationally connected to the third plate through the first control component. A second control component is arranged inside the third plate;

[0011] The first control component can control the rotation angle of the third plate relative to the second plate according to the sliding displacement of the second plate relative to the first plate;

[0012] The second control component can control the telescopic length of the third plate according to the rotation angle of the third plate relative to the second plate.

[0013] Furthermore, a fillet conforming to the contour of the insertion rod is provided at the upper end of the bottom plate, and the fillet extends from the right end of the bottom plate to the right end of the first plate.

[0014] Furthermore, the first control component includes a connecting plate fixedly connected to the upper end of the second plate. A first connecting block is fixedly connected to the right end of the second plate, and a second connecting block is fixedly connected to the right end of the third plate. The first connecting block is commonly rotationally connected to a vertically arranged rotating shaft, and the second connecting block is fixedly connected to the rotating shaft. A stepping motor is fixedly connected to the upper end of the connecting plate, and the output shaft of the stepping motor is fixedly connected to the rotating shaft. A position sensor is externally connected to the second plate, and the position sensor can control the operation of the stepping motor through the displacement of the second plate relative to the first plate.

[0015] Furthermore, the third plate includes a straight plate, and a trapezoidal plate is elastically slidably connected to the right end of the straight plate.

[0016] Furthermore, the second control component includes an avoidance groove longitudinally penetrating the straight plate and the trapezoidal plate. A sector plate is arranged in the avoidance groove. The sector plate is fixedly connected to the right end of the second plate. The rotating shaft vertically penetrates the sector plate. A guiding groove is provided at the upper end of the sector plate, and the trajectory of the guiding groove gradually approaches the center of the sector plate along the direction of the vehicle. A sliding rod is fixedly connected to the trapezoidal plate, and the sliding rod is slidably connected to the guiding groove.

[0017] Furthermore, an air pump is fixedly connected to the upper end of the mounting frame, a rectangular pipe is fixedly connected to the left end of the mounting frame, the rectangular pipe is communicated with the intervals between adjacent partitions and avoidance components, the air pump is communicated with the rectangular pipe, and the air pump is used to form an upward air flow in the intervals between adjacent partitions and avoidance components.

[0018] Further, the cutting mechanism includes a mounting plate which is arranged on the left side of the rectangular pipe. The mounting plate is fixedly connected to the mounting frame. A plurality of vertically arranged sliding rods are fixedly connected to the lower end of the mounting plate. The cutting assembly is vertically slidably connected to the plurality of sliding rods. A screw rod is fixedly connected to the upper end of the cutting assembly. The screw rod vertically penetrates the mounting plate and is threadedly connected to the mounting plate.

[0019] Further, a guiding hopper is fixedly connected to the left side of the cutting assembly. The guiding hopper is used for guiding the cut vines to slide towards the carrier.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] The present invention can make each level of fruits and the corresponding vines become vertical through the partition plate, and then use the growth heights of different levels of fruits for grading and thinning fruits; in this way, the vertical distance between fruits of different levels is increased, enhancing the selection ability of the equipment; at the same time, it effectively avoids the missed cutting or mis-cutting caused by the higher-level fruits with vines growing downward or the lower-level fruits with vines growing upward due to the obstruction of the growth space. Description of the Drawings

[0022] Figure 1 Schematic diagram of the growth characteristics of strawberries;

[0023] Figure 2 Schematic diagram of the overall structure of the present invention;

[0024] Figure 3 Schematic diagram of the structure of a single mounting frame and its components cooperating with the planting frame;

[0025] Figure 4 Schematic diagram of the structure of a single mounting frame and its components;

[0026] Figure 5 For Figure 4 Enlarged schematic diagram of the structure at A in

[0027] Figure 6 For Figure 4 Schematic diagram of the structure after removing the air pump;

[0028] Figure 7 For Figure 6 Positive sectional structure schematic diagram of

[0029] Figure 8 Schematic diagram of the structure of the partition plate and the insertion rod corresponding to a single mounting frame;

[0030] Figure 9 Schematic diagram of the working principle of Plate III;

[0031] Figure 10 Schematic diagram of the fruit thinning principle;

[0032] Figure 11 For Figure 10 comparative schematic diagram of.

[0033] In the attached drawings, the components represented by each reference numeral are as follows:

[0034] 1: vehicle, 2: robotic arm, 3: mounting bracket, 4: partition board, 6: inserting rod, 7: bottom plate, 8: plate one, 9: plate two, 11: rounded corner, 12: connecting plate, 13: connecting block one, 14: connecting block two, 15: rotating shaft, 16: stepper motor, 17: straight plate, 18: trapezoidal plate, 19: avoiding slot, 20: sector plate, 21: guiding slot, 22: sliding rod, 23: air pump, 24: rectangular pipe, 25: mounting plate, 26: sliding rod, 27: cutting assembly, 28: screw, 90: planting frame, 91: frame body. Specific embodiments

[0035] Please refer to Figures 1-11 , the present invention provides a technical solution: a synchronous fruit thinning and grading device for high-density strawberry planting, including a robotic arm 2, and further including a mounting bracket 3 connected to the robotic arm 2. A plurality of partition boards 4 are longitudinally arranged in an array at the lower end of the mounting bracket 3, and bevels are arranged at the right ends of the partition boards 4;

[0036] Inserting rods 6 are arranged on both sides of the partition board 4;

[0037] A cutting mechanism is vertically slidably connected to the left end of the partition board 4 below the mounting bracket 3, and the cutting mechanism is used for cutting strawberry vines.

[0038] Taking Figure 3 as the reference system for description, the robotic arm 2 adjusts the position of the mounting bracket 3 to make the inserting rod 6 above the planting frame 90, and then drives the corresponding inserting rod 6 of the robotic arm 2 to move horizontally along the planting frame 90 through the robotic arm 2, so that each inserting rod 6 horizontally inserts into the strawberry vines. As each inserting rod 6 continuously moves horizontally, the layered vines enter between the respective partition boards 4 on the left side of the inserting rod 6 through the inserting rod 6 on the right side, so that the strawberry vines and the inflorescences or fruits on the vines are longitudinally layered. Then, since the vines grow outward perpendicular to the planting frame 90, the growth direction of the vines is perpendicular to the partition board 4. This makes it so that during the process of the vines entering between the respective partition boards 4, the vines will gradually become vertical along the hypotenuse at the right end of each partition board 4, so that the inflorescences or fruits corresponding to the vines entering between the respective inserting rods 6 will finally enter the partition boards 4 corresponding to the inserting rods 6 where their vines are located, and further vertically layer the fruits at all levels on the vines; thus, by adjusting the height of the cutting mechanism, the fruits with a higher level can be cut off;

[0039] During this process, since the lower-grade fruits grow first and are located lower, generally, by controlling the height of the insertion rods 6, the vines of the lower-grade fruits will not enter between the insertion rods 6. That is, ideally, the lower-grade fruits and their vines will not enter between the avoidance components and each partition 4;

[0040] Reference Figure 1 and 10 ( Figure 1 、 Figure 9 and Figure 10 For the convenience of description, only fruits up to the fourth grade are mentioned in [references]. In fact, fruits with higher grades may appear. Since the fruit thinning operation is generally carried out at the stage when the first- and second-grade fruits have formed, the corresponding higher-grade secondary fruits are still in the inflorescence state. Under the action of gravity, the vines where the first- and second-grade fruits are located are pressed down and rely on the frame wall of the planting frame 90, while the higher-grade secondary fruits can still maintain an upright state. This makes the higher-grade secondary fruits closer to the rootstock position of the strawberry plant, while the first- and second-grade fruits generally extend out of the planting frame 90 and droop, and the vines of the first- and second-grade fruits are in an approximately parabolic state;

[0041] Correspondingly, when the robotic arm 2 adjusts the position of the mounting bracket 3, the insertion rods 6 corresponding to the avoidance components are located above the vertex of the parabolic trajectory of the vines of the first- and second-grade fruits.

[0042] The present invention can make the fruits and corresponding vines at each level become vertical through the partition 4, and then use the growth heights of fruits at different levels for grading and fruit thinning; in this way, the vertical distance between fruits at different levels is increased, enhancing the selection ability of the device; at the same time, it effectively avoids the missed cutting or mis-cutting caused by the higher-grade fruits with vines growing downward or the lower-grade fruits with vines growing upward due to the obstruction of the growth space. The higher-grade fruits with vines growing downward or the lower-grade fruits with vines growing upward due to the obstruction of the growth space are prone to missed cutting or mis-cutting.

[0043] Furthermore, it further includes a carrier 1, and a plurality of the robotic arms 2 are respectively arranged on the carrier 1.

[0044] A plurality of planting frames 90 are installed on the frame body 91 in a Figure 2 state, wherein the vines of the strawberries bearing fruits grow towards the side of the planting frame 90 away from the frame body 91 (under artificial intervention); by controlling each robotic arm 2, each robotic arm 2 corresponds to each planting frame 90 on one side of the frame body 91, so that there is a mounting bracket 3 above each planting frame 90 on both sides of the carrier 1;

[0045] Since the strawberry vines grow naturally, inevitably, there will be a small number of vines of the first- and second-grade fruits above the insertion rods 6. At this time, referring to Figure 10 and 11 ( Figure 10The middle dotted line L is the cutting position of the cutting mechanism). Since the first- and second-grade fruits have already formed relatively large fruits, when the first- and second-grade fruits enter between the partition plates 4, there is a phenomenon that the connection between the fruit and the stem vine is engaged with the partition plate 4, which poses a risk of the first- and second-grade fruits falling off:

[0046] Furthermore, at least one avoidance component is provided on the side of the partition plate 4 closest to the vehicle 1 that is close to the vehicle 1; an inclined angle is provided at the right end of each avoidance component; insertion rods 6 are provided on both sides of each avoidance component;

[0047] Each avoidance component includes a bottom plate 7, a first plate 8, a second plate 9, and a telescopable third plate. An inclined angle is provided at the right end of the third plate. The two ends of the bottom plate 7 are fixedly connected to the insertion rods 6. The first plate 8 is fixedly connected to the upper left side of the bottom plate 7. The upper end of the first plate 8 is fixedly connected to the lower end of the mounting frame 3. The second plate 9 is arranged on the right side of the first plate 8 and is elastically slidably connected to the first plate 8. A first control component is provided at the right end of the second plate 9. The right end of the second plate 9 is rotationally connected to the third plate through the first control component. A second control component is arranged inside the third plate;

[0048] The first control component can control the rotation angle of the third plate relative to the second plate 9 according to the sliding displacement amount of the second plate 9 relative to the first plate 8;

[0049] The second control component can control the telescopic length of the third plate according to the rotation angle of the third plate relative to the second plate 9.

[0050] According to the growth state of the strawberries, the number of avoidance components is set to ensure that the stems and vines of the first- and second-grade fruits will only enter the intervals with avoidance components;

[0051] In the solution of the present invention, for the convenience of description, a design solution of one avoidance component cooperating with multiple partition plates 4 is selected to describe the principle:

[0052] When the first- and second-grade fruits enter between the avoidance component and the partition plate 4, if the first- and second-grade fruits are engaged with the avoidance component, first, the fruit is engaged with the right-angled side on the right side of the third plate (it should be noted that the high-grade fruits will not be engaged with the partition plate because they have not formed fruits themselves, and even if they are engaged, the resulting engagement torque is small and will not cause harm to them). At this time, the first- and second-grade fruits move leftward relative to the avoidance component, causing the first- and second-grade fruits to exert a leftward pulling force on the third plate. Furthermore, the third plate pushes the second plate 9 to the left, causing the second plate 9 to move leftward relative to the first plate 8, thus forming a buffer to reduce the rightward inertial force of the third plate on the first- and second-grade fruits, and further reducing the risk of the first- and second-grade fruits falling off; at the same time, as the second plate 9 moves leftward relative to the first plate 8, as Figure 9, the first control component controls the three-phase plate of the control board to rotate towards the vehicle 1 relative to the second-phase plate 9. At the same time, the second control component controls the third plate to shorten. During the rotation of the third plate, the right end of the third plate disengages from the fruit, avoiding applying a greater force to the fruit during the rotation of the third plate and causing the fruit to detach. Further, by rotating the third plate, the distance between the right end of the third plate and the avoidance component is increased, allowing the fruit to directly enter between the third plate and the avoidance component. In this way, the process of the fruit entering between the partition plates is protected.

[0053] As can be seen from the above, the avoidance component has a role in protecting the fruit relative to the partition plate 4. In practical applications, the number of avoidance components can be changed according to the usage scenario.

[0054] In summary, the solution of the present invention protects the formed fruit through the structure of the avoidance component, enabling the device to quickly perform mechanical grading and thinning of fruits. At the same time, it has a good protective effect on the fruits, effectively improving the efficiency of fruit thinning and increasing the stability of fruit thinning.

[0055] Further, a rounded corner 11 that fits the contour of the insertion rod 6 is provided at the upper end of the bottom plate 7, and the rounded corner 11 extends from the right end of the bottom plate 7 to the right end of the first plate 8.

[0056] Since the third plate can rotate relative to the bottom plate 7, the upper right end of the bottom plate 7 can be exposed and contact the fruit. Therefore, a rounded corner 11 is provided at the upper end of the bottom plate 7 so that the fruit will not be scratched by the corner of the bottom plate 7 during the process of entering the avoidance component.

[0057] The first control component includes a connecting plate 12, which is fixedly connected to the upper end of the second plate 9. A connecting block one 13 is fixedly connected to the right end of the second plate 9, and a connecting block two 14 is fixedly connected to the right end of the third plate. The connecting block one 13 is commonly rotatably connected to a vertically arranged rotating shaft 15, and the connecting block two 14 is fixedly connected to the rotating shaft 15. A stepping motor 16 is fixedly connected to the upper end of the connecting plate 12, and the output shaft of the stepping motor 16 is fixedly connected to the rotating shaft 15. The second plate 9 is externally connected with a position sensor, and the position sensor can control the operation of the stepping motor 16 through the displacement of the second plate 9 relative to the first plate 8.

[0058] Described with the bottom plate 7 as a reference: When the fruit moves leftward along the insertion rod 6 and gets stuck with the right end of the third plate and overcomes the elastic force to push the second plate 9 to slide leftward, the position sensor controls the operation of the stepping motor 16. The stepping motor 16 drives the rotating shaft 15 to rotate, causing the rotating shaft 15 to drive the third plate to rotate towards the vehicle 1, so that the fruit enters from the side of the third plate close to the vehicle 1 to the side of the third plate away from the vehicle 1, avoiding the fruit getting stuck with the right end of the third plate.

[0059] During the process of the fruit changing from the side of the third plate close to the vehicle 1 to the side of the third plate away from the vehicle 1 by rotating the third plate, if the third plate cannot be telescoped, then as Figure 9, Plate Three will squeeze the tail of the fruit, and the corresponding fruit will be subjected to a force that causes it to break away from the stem, and thus it is prone to the phenomenon of the shedding of first- and second-grade fruits. In response to this phenomenon, the present invention designs a retractable Plate Three.

[0060] Plate Three includes a straight plate 17, and a trapezoidal plate 18 is elastically and slidably connected to the right end of the straight plate 17.

[0061] The second control component includes an avoidance groove 19 that longitudinally penetrates the straight plate 17 and the trapezoidal plate 18. A sector plate 20 is arranged in the avoidance groove 19. The sector plate 20 is fixedly connected to the right end of Plate Two 9. The rotating shaft 15 vertically penetrates the sector plate 20. A guiding groove 21 is opened at the upper end of the sector plate 20. The trajectory of the guiding groove 21 gradually approaches the center of the sector plate 20 along the direction of the carrier 1. The trapezoidal plate 18 is fixedly connected with a sliding rod 22, and the sliding rod 22 is slidably connected to the guiding groove 21.

[0062] As Figure 9 , during the process of Plate Three rotating relative to Plate Two 9, the sliding rod 22 will move towards the direction of the carrier 1 along with the trapezoidal plate 18. Further, the sliding rod 22 slides along the guiding groove 21 towards the direction of the carrier 1, and drives the trapezoidal plate 18 to approach the center of the sector plate 20, causing the sector plate 20 to move leftward relative to the straight plate 17, shortening Plate Three. Further, when the fruit enters from the side of Plate Three close to the carrier 1 to the side of Plate Three far from the carrier 1, Plate Three moves away from the tail of the fruit, further reducing the force applied by Plate Three to the fruit during the rotation process of Plate Three to cause the fruit to break away from the stem, reducing the probability of fruit shedding, and playing a good protective role for the fruit.

[0063] When fruits at all levels and their corresponding stems enter the space between the partition plates, since the partition plates move to the right relative to the stems, the stems will fall to the right, which reduces the vertical distance between the fruits at all levels corresponding to the ends of each stem, and further increases the difficulty of grading. Further, in order to increase the vertical distance between the fruits at all levels, it is necessary to make the stems in the space between the partition plates as vertical as possible.

[0064] An air pump 23 is fixedly connected to the upper end of the mounting frame 3. A rectangular pipe 24 is fixedly connected to the left end of the mounting frame 3. The rectangular pipe 24 is communicated with the intervals between each adjacent partition plate 4 and the avoidance component. The air pump 23 is communicated with the rectangular pipe 24. The air pump 23 is used to form an upward air flow in the intervals between each adjacent partition plate 4 and the avoidance component.

[0065] When the stems enter the space between the partition plates and pass directly below the rectangular pipe 24, under the blowing action of the air flow generated by the air pump 23, the inclined stems will approach the vertical state, increasing the vertical distance between the fruits at all levels corresponding to the ends of the stems, and further reducing the grading difficulty of the cutting mechanism when the stems pass through the cutting mechanism.

[0066] The cutting mechanism includes a mounting plate 25, which is arranged on the left side of the rectangular pipe 24. The mounting plate 25 is fixedly connected to the mounting frame 3. A plurality of vertically arranged sliding rods 26 are fixedly connected to the lower end of the mounting plate 25. A cutting assembly 27 is vertically slidably connected to the plurality of sliding rods 26. A screw rod 28 is fixedly connected to the upper end of the cutting assembly 27. The screw rod 28 vertically penetrates the mounting plate 25 and is threadedly connected to the mounting plate 25.

[0067] A guiding hopper is fixedly connected to the left side of the cutting assembly 27. The guiding hopper is used to guide the cut vines to slide towards the carrier 1.

[0068] According to the heights of the vines corresponding to each level of fruits after vertical stretching, the required cutting height of the cutting assembly 27 is determined, and the cutting height of the cutting assembly 27 is changed by rotating the screw rod 28, so as to perform grading and thinning of fruits; at the same time, the cut vines are guided by the guiding hopper to slide towards the carrier 1, avoiding the cut vines from falling into the planting frame 90 and causing the strawberry plants to be infected after long-term accumulation and corruption and mildew.

Claims

1. Synchronous fruit thinning and grading device for high-density strawberry planting, including a robotic arm (2), characterized in that: It further includes a mounting frame (3) connected to the robotic arm (2). A plurality of partition plates (4) are longitudinally arranged in an array at the lower end of the mounting frame (3), and chamfers are provided at the right ends of the partition plates (4). Plug rods (6) are provided on both sides of the partition plate (4). A cutting mechanism is vertically and slidably connected to the left end of the partition plate (4) below the mounting frame (3), and the cutting mechanism is used for cutting strawberry vines.

2. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 1, characterized in that: It further includes a carrier (1), and a plurality of the robotic arms (2) are respectively arranged on the carrier (1).

3. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 2, characterized in that: At least one avoidance component is provided on the side of the partition plate (4) closest to the carrier (1) close to the carrier (1); chamfers are provided at the right ends of the avoidance components; plug rods (6) are provided on both sides of the avoidance components. The avoidance component includes a bottom plate (7), a first plate (8), a second plate (9), and a telescopable third plate. A chamfer is provided at the right end of the third plate. The two ends of the bottom plate (7) are fixedly connected to the plug rods (6). The first plate (8) is fixedly connected to the upper left side of the bottom plate (7). The upper end of the first plate (8) is fixedly connected to the lower end of the mounting frame (3). The second plate (9) is arranged on the right side of the first plate (8) and is elastically slidably connected to the first plate (8). A first control component is provided at the right end of the second plate (9). The right end of the second plate (9) is rotationally connected to the third plate through the first control component. A second control component is arranged inside the third plate. The first control component can control the rotation angle of the third plate relative to the second plate (9) according to the sliding displacement of the second plate (9) relative to the first plate (8). The second control component can control the telescopic length of the third plate according to the rotation angle of the third plate relative to the second plate (9).

4. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 3, wherein: A fillet (11) conforming to the contour of the plug rod (6) is provided at the upper end of the bottom plate (7), and the fillet (11) extends from the right end of the bottom plate (7) to the right end of the first plate (8).

5. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 4, wherein: The first control component includes a connecting plate (12). The connecting plate (12) is fixedly connected to the upper end of the second plate (9). A first connecting block (13) is fixedly connected to the right end of the second plate (9). A second connecting block (14) is fixedly connected to the right end of the third plate. The first connecting block (13) is commonly rotationally connected to a vertically arranged rotating shaft (15). The second connecting block (14) is fixedly connected to the rotating shaft (15). A stepping motor (16) is fixedly connected to the upper end of the connecting plate (12). The output shaft of the stepping motor (16) is fixedly connected to the rotating shaft (15). A position sensor is externally connected to the second plate (9), and the position sensor can control the operation of the stepping motor (16) through the displacement of the second plate (9) relative to the first plate (8).

6. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 5, characterized in that: The third plate includes a straight plate (17), and a trapezoidal plate (18) is elastically slidably connected to the right end of the straight plate (17).

7. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 6, characterized in that: The second control component includes an avoidance groove (19) longitudinally penetrating through a straight plate (17) and a trapezoidal plate (18). A sector plate (20) is arranged in the avoidance groove (19). The sector plate (20) is fixedly connected to the right end of the second plate (9). The rotating shaft (15) vertically penetrates through the sector plate (20). A guiding groove (21) is formed at the upper end of the sector plate (20). The trajectory of the guiding groove (21) gradually approaches the center of the sector plate (20) along the direction of the vehicle (1). The trapezoidal plate (18) is fixedly connected with a sliding rod (22), and the sliding rod (22) is slidably connected with the guiding groove (21).

8. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 3, characterized in that: An air pump (23) is fixedly connected to the upper end of the mounting frame (3). A rectangular pipe (24) is fixedly connected to the left end of the mounting frame (3). The rectangular pipe (24) is in interval communication with each adjacent partition plate (4) and the avoidance component. The air pump (23) is communicated with the rectangular pipe (24). The air pump (23) is used for forming an upward air flow in the intervals between each adjacent partition plate (4) and the avoidance component.

9. The synchronous fruit thinning and grading device for high-density strawberry planting according to claim 3, characterized in that: The cutting mechanism includes a mounting plate (25). The mounting plate (25) is arranged on the left side of the rectangular pipe (24). The mounting plate (25) is fixedly connected to the mounting frame (3). A plurality of vertically arranged sliding rods (26) are fixedly connected to the lower end of the mounting plate (25). The cutting component (27) is vertically and slidably connected to the plurality of sliding rods (26) together. A screw rod (28) is fixedly connected to the upper end of the cutting component (27). The screw rod (28) vertically penetrates through the mounting plate (25) and is threadedly connected to the mounting plate (25).

10. The strawberry synchronous fruit thinning and grading device for high-density planting according to claim 9, wherein: An externally connected guiding hopper is fixedly connected to the left side of the cutting component (27). The guiding hopper is used for guiding the cut vines to slide towards the vehicle (1).

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