Strawberry cleaning and conveying integrated structure

Abstract

The utility model discloses a strawberry cleaning and conveying integrated structure. The strawberry cleaning and conveying integrated structure comprises a feeding mechanism, a conveying mechanism arranged at the discharging end of the feeding mechanism, a picking mechanism erected above the conveying mechanism, a cleaning mechanism arranged at the discharging end of the picking mechanism, a circulating system arranged below the cleaning mechanism and a conveying mechanism arranged below the feeding mechanism and the conveying mechanism. The picking mechanism, the cleaning mechanism and the circulating system are electrically connected with the controller; according to the strawberry cleaning and conveying integrated structure, automatic conveying, automatic recognizing and grabbing, automatic strawberry pedicle removing, automatic cleaning and automatic sorting are facilitated, and strawberries are evenly separated, lifted, conveyed, grabbed, pedicle removing, cleaning and sorting are achieved through the system. The whole process adopts a plurality of operation processes such as visual guidance, intelligent identification, automatic pedicle removal, automatic cleaning and automatic sorting, and solves a plurality of quality problems in the strawberry processing and production process.

Description

Technical Field

[0001] The utility model relates to the field of automated agricultural equipment, in particular to an integrated structure for cleaning and conveying strawberries. Background Art

[0002] In the traditional process of removing strawberry stems, the strawberry stems are removed manually, which leads to many problems such as squeezing and accumulation, unclean removal, difficulty in uniform fruit quality, unclean cleaning, and serious waste of water resources. Utility Model Content

[0003] The purpose of the utility model is to provide an integrated structure for washing and conveying strawberries, which solves the problems mentioned in the background technology.

[0004] The utility model is realized in this way: a strawberry cleaning and conveying integrated structure, the strawberry cleaning and conveying integrated structure comprising: a feeding mechanism, a conveying mechanism arranged at a discharging end of the feeding mechanism, a picking mechanism erected above the conveying mechanism, a cleaning mechanism arranged at a discharging end of the picking mechanism, a circulation system arranged below the cleaning mechanism, and a controller electrically connected to the feeding mechanism, the conveying mechanism, the picking mechanism, the cleaning mechanism and the circulation system; the feeding mechanism soaks and cleans the strawberries once and then lifts them to the conveying mechanism; the conveying mechanism transmits the strawberries to one side of the cleaning mechanism; during the transmission process, the strawberry stalks are cut off after being positioned by a camera and aligning them by a picking mechanism; then the strawberries fall into the cleaning mechanism for secondary cleaning, and the strawberry stalk residues are separated from the strawberries by a steel bar net; the strawberries fall into the next packaging process through the steel bar net; the water of the cleaning mechanism enters the circulation mechanism, is circulated through a circulation pump after being precipitated and disinfected, and the whole process is automatically controlled by the controller.

[0005] A further technical solution of the utility model is: the feeding mechanism comprises: a first circulating water pool, and a hoist with a feed end placed in the first circulating water pool, responsible for holding the strawberries with stalks; pre-cleaning work, the hoist: is responsible for lifting the strawberries with stalks in the circulating water pool into the vibrating plate direct vibration feeding device; allowing the strawberries to be evenly distributed; and entering the conveyor belt.

[0006] A further technical solution of the utility model is: the transmission mechanism includes: a vibrating feeding device, a conveyor belt and a blocking device, the vibrating feeding device is placed at the discharge end of the elevator, the feeding end of the conveyor belt is connected to the discharge end of the vibrating feeding device, the blocking device is placed on the conveyor belt, and the vibrating plate directly vibrates the feeding device: so that the strawberries with stalks are evenly distributed; entering the conveyor belt, the conveyor belt is responsible for conveying the strawberries with stalks through the uniform blocking device to the grasping range of multiple delta spider manipulators, and the strawberry uniform blocking device is responsible for evenly blocking the strawberries with stalks.

[0007] A further technical solution of the utility model is: the picking mechanism includes: a manipulator mounted above the conveyor belt, a stem-removing cutter head and a camera connected to an external controller; a plurality of delta spider manipulators cooperate with the stem-removing cutter head to remove the strawberry stems; the camera is used to photograph the position of the strawberries, and cooperates with the application of machine vision technology to achieve high-speed automatic identification and positioning of the strawberries, providing image information feedback for precise control; the control system has intelligent diagnosis, fault warning and automatic recovery functions to ensure high stability and continuous operation of the system.

[0008] A further technical solution of the utility model is: an air suction port is provided on the side of the stem-removing blade head, the manipulator adopts a delta spider manipulator, the air suction port sucks in the strawberry stems and discharges them to the outside, and the strawberries in the water reservoir sink to the bottom of the water.

[0009] A further technical solution of the utility model is: the cleaning mechanism comprises: a water reservoir, and a steel bar net arranged below the water reservoir, the water reservoir is responsible for secondary cleaning of the strawberries after the stems are removed; and the water reservoir is used to transport the strawberries together with the remaining strawberry stems and other impurities to the steel bar net through the water outlet.

[0010] A further technical solution of the utility model is: a water outlet matching the size of the strawberries is arranged below the water reservoir, and a certain amount of water is ensured to be maintained in the water reservoir through computer control.

[0011] The further technical scheme of the utility model is: the circulation system comprises: a first circulation pump, a second circulation pump and a second circulation water pool, the water inlet end of the first circulation pump is connected to the second circulation water pool, the water outlet end of the first circulation pump is provided with a water spray port, the water spray port is placed above the water reservoir, one end of the second circulation pump is connected to the second circulation water pool, the other end of the second circulation pump is connected to the first circulation water pool, the second circulation water pool is responsible for using the gravity principle to precipitate impurities, so that the suspended matter and impurities in the water settle to the bottom of the pool. The sedimentation tank adopts a stepped design to increase the sedimentation time and improve the effect of removing impurities. A mud discharge port is provided at the bottom of the pool to facilitate regular cleaning of sediments, the first circulation pump is used to draw water from the second circulation water pool into the water reservoir, the water pressure and flow are controlled by a pressure reducing valve to ensure that the water reservoir maintains a certain amount of water, and the second circulation pump is used to replenish the water in the second circulation water pool into the first circulation water pool, or replenish the first circulation water pool into the second circulation water pool.

[0012] Beneficial effects of the utility model: The integrated structure of strawberry cleaning and conveying of the utility model facilitates automatic conveying, automatic identification and grasping, automatic removal of strawberry stems, automatic cleaning, and automatic sorting. The system evenly separates, lifts, conveys, grasps, removes stems, cleans, and sorts strawberries. The entire process adopts visual guidance, intelligent identification, automatic removal of stems, automatic cleaning, automatic sorting, and many other operation processes, solving many quality problems in the strawberry processing and production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of an integrated structure for washing and conveying strawberries provided by the utility model;

[0014] Figure 2 It is a structural schematic diagram of a feeding mechanism of a strawberry washing and conveying integrated structure provided by the utility model;

[0015] Figure 3 It is a structural schematic diagram of a picking mechanism of a strawberry cleaning and conveying integrated structure provided by the utility model;

[0016] Figure 4 The utility model is a structural schematic diagram of a cleaning mechanism with an integrated structure for cleaning and conveying strawberries. DETAILED DESCRIPTION

[0017] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0018] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of the present specification are only used to match the contents disclosed in the specification for people familiar with the technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present utility model, should still fall within the scope of the technical contents disclosed by the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in the present specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present utility model. The change or adjustment of the relative relationship, without substantial change of the technical contents, should also be regarded as the scope of the implementation of the present utility model.

[0019] Embodiment 1: Figure 1-Figure 4A strawberry cleaning and conveying integrated structure is shown, and the strawberry cleaning and conveying integrated structure comprises: a feeding mechanism, a conveying mechanism arranged at the discharge end of the feeding mechanism, a picking mechanism erected above the conveying mechanism, a cleaning mechanism arranged at the discharge end of the picking mechanism, a circulation system arranged below the cleaning mechanism, and a controller electrically connected to the feeding mechanism, the conveying mechanism, the picking mechanism, the cleaning mechanism and the circulation system. The feeding mechanism lifts the strawberries to the conveying mechanism after soaking and cleaning them once, and the conveying mechanism transfers the strawberries to one side of the cleaning mechanism. During the transmission process, the strawberry stalks are cut off after being positioned by a camera and straightened by a picking mechanism, and then fall into the cleaning mechanism for secondary cleaning, and the strawberry stalk residues are separated from the strawberries through a steel bar net. The strawberries fall into the next packaging process through the steel bar net, and the water of the cleaning mechanism enters the circulation mechanism, and can be recycled through a circulation pump through sedimentation disinfection, and the whole process is automatically controlled by the controller; the feeding mechanism comprises: a first circulation water pool 1, and a hoist 2 whose feeding end is placed in the first circulation water pool 1, which is responsible for holding the strawberries with stalks ; Pre-cleaning work, the hoist is responsible for lifting the pedicled strawberries in the circulating water pool into the vibration plate direct vibration feeding device; let the strawberries be evenly distributed; enter the conveyor belt; the transmission mechanism includes: a vibration feeding device 3, a conveyor belt 4 and a blocking device 5, the vibration feeding device 3 is placed at the discharge end of the hoist 2, the feed end of the conveyor belt 4 is connected to the discharge end of the vibration feeding device 3, the blocking device 5 is placed on the conveyor belt 4, the vibration plate direct vibration feeding device: let the pedicled strawberries be evenly distributed; enter the conveyor belt, the conveyor belt is responsible for conveying the pedicled strawberries through the uniform blocking device to the grasping range of multiple delta spider manipulators, and the strawberry uniform blocking device is responsible for evenly blocking the pedicled strawberries; the picking mechanism includes: a manipulator 6 set up above the conveyor belt 4, a stem removal cutter head and a camera connected to an external controller, multiple delta spider manipulators cooperate with the stem removal cutter head to remove the strawberry stem, the camera is used to shoot the strawberry position, and cooperate with the application of machine vision technology to achieve high-speed automatic recognition and positioning of strawberries, and provide image information feedback for precise control;The control system has intelligent diagnosis, fault warning and automatic recovery functions to ensure high stability and continuous operation of the system; an air suction port 8 is provided on the side of the stem-removing blade head, and the manipulator 6 adopts a delta spider manipulator. The air suction port sucks in the strawberry stems and discharges them to the outside, and the strawberries in the water reservoir sink to the bottom of the water; the cleaning mechanism includes: a water reservoir 7, and a steel bar net 11 arranged below the water reservoir 7. The water reservoir is responsible for secondary cleaning of the strawberries after the stems are removed; and the impurities such as the residual strawberry stems are transported to the steel bar net through the water outlet; a water outlet matching the size of the strawberries is provided below the water reservoir 7, and the water is controlled by a computer. , ensuring that a certain amount of water is maintained in the water reservoir; the circulation system includes: a first circulation pump 13, a second circulation pump 20 and a second circulation water pool 12, the water inlet end of the first circulation pump 13 is connected to the second circulation water pool 12, the water outlet end of the first circulation pump 13 is provided with a water spray port, the water spray port is placed above the water reservoir 7, one end of the second circulation pump 20 is connected to the second circulation water pool 12, and the other end of the second circulation pump 20 is connected to the first circulation water pool 1, and the second circulation water pool is responsible for using the principle of gravity to precipitate impurities, so that the suspended matter and impurities in the water settle to the bottom of the pool. The sedimentation tank adopts a stepped design to increase the sedimentation time and improve the effect of removing impurities. A mud outlet is provided at the bottom of the pool to facilitate regular cleaning of sediments. The first circulating pump 13 is used to draw water from the second circulating water pool 12 into the reservoir. The water pressure and flow are controlled by a pressure reducing valve to ensure that the reservoir maintains a certain amount of water. The second circulating pump 20 is used to replenish the water from the second circulating water pool 12 into the first circulating water pool 1, or replenish the first circulating water pool 1 into the second circulating water pool; The utility model's integrated structure for washing and conveying strawberries facilitates automatic conveying, automatic identification and grasping, automatic removal of strawberry pedicles, automatic cleaning, and automatic sorting. The system evenly separates, lifts, conveys, grasps, removes pedicles, washes, and sorts strawberries. The entire process uses visual guidance, intelligent identification, automatic removal of pedicles, automatic cleaning, automatic sorting, and many other operating processes to solve many quality problems in the strawberry processing and production process. ;

[0020] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A strawberry cleaning and conveying integrated structure, characterized in that: The strawberry cleaning and conveying integrated structure comprises: a feeding mechanism, a conveying mechanism arranged at a discharge end of the feeding mechanism, a picking mechanism erected above the conveying mechanism, a cleaning mechanism arranged at a discharge end of the picking mechanism, a circulation system arranged below the cleaning mechanism, and a controller electrically connected to the feeding mechanism, the conveying mechanism, the picking mechanism, the cleaning mechanism and the circulation system.

2. The strawberry cleaning and conveying integrated structure according to claim 1, characterized in that: The feeding mechanism comprises: a first circulating water pool (1), and a hoist (2) with a feeding end placed in the first circulating water pool (1).

3. The strawberry cleaning and conveying integrated structure according to claim 2, characterized in that: The conveying mechanism comprises: a vibrating feeding device (3), a conveyor belt (4) and a blocking device (5); the vibrating feeding device (3) is placed at the discharge end of the elevator (2); the feed end of the conveyor belt (4) is connected to the discharge end of the vibrating feeding device (3); and the blocking device (5) is placed on the conveyor belt (4).

4. The strawberry cleaning and conveying integrated structure according to claim 3, characterized in that: The picking mechanism comprises: a robot arm (6) mounted above the conveyor belt (4), a stem-removing knife head, and a camera connected to an external controller.

5. The strawberry cleaning and conveying integrated structure according to claim 4, characterized in that: An air suction port (8) is provided on the side of the pedicle removal blade head, and the manipulator (6) is a delta spider manipulator.

6. The strawberry cleaning and conveying integrated structure according to claim 5, characterized in that: The cleaning mechanism comprises: a water reservoir (7) and a steel bar mesh (11) arranged below the water reservoir (7).

7. The strawberry cleaning and conveying integrated structure according to claim 6, characterized in that: A water outlet matching the size of the strawberries is provided below the water reservoir (7).

8. The strawberry cleaning and conveying integrated structure according to claim 7, characterized in that: The circulation system comprises: a first circulation pump (13), a second circulation pump (20) and a second circulation water pool (12); a water inlet end of the first circulation pump (13) is connected to the second circulation water pool (12); a water outlet end of the first circulation pump (13) is provided with a water spray port, and the water spray port is located above the water reservoir (7); one end of the second circulation pump (20) is connected to the second circulation water pool (12), and the other end of the second circulation pump (20) is connected to the first circulation water pool (1).

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