Intelligent strawberry picking device

Abstract

The utility model relates to the field of fruit picking, in particular to an intelligent strawberry picking device which comprises a picking component and a picking auxiliary component which are arranged on a shell, a supporting rod on a storage box plays a role in supporting roots and rhizomes of strawberries, when the roots and rhizomes of the strawberries are supported, strawberry fruits are naturally exposed outside, and therefore the strawberry fruits are protected from being damaged. And the state creates a better working condition for the mechanical arm of the picking component, so that the picking component can be matched more efficiently and accurately for cutting and picking, the cut strawberries fall into the storage box, and the picking precision and efficiency are improved.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking, and in particular to an intelligent strawberry picking device. Background Technology

[0002] In the traditional strawberry picking process, whether it is manual picking or some simple picking equipment in the early days, there are many problems that hinder the accuracy and efficiency of picking.

[0003] When harvesting strawberries manually, the varying growth stages of the plants and the overlapping of fruits require workers to spend a significant amount of time parting the leaves and foliage to pinpoint the exact location of the strawberry stems before they can be picked. This prolonged and strenuous manual labor, especially in large-scale strawberry farms, easily leads to worker fatigue, significantly reducing harvesting accuracy and efficiency. Furthermore, manual harvesting is costly and may face labor shortages during peak harvest seasons.

[0004] While some existing harvesting equipment attempts partial mechanization, it lacks in-depth consideration of the growth characteristics of strawberry plants. When faced with densely packed strawberry fruits and indistinct stem positions, the robotic arms of the harvesting equipment struggle to accurately locate the stems, often resulting in miscutting or missed cuts. This not only leads to low harvesting efficiency but also causes unnecessary damage to the strawberry plants, affecting their subsequent growth and yield. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent strawberry picking device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An intelligent strawberry picking device includes a picking component and a picking auxiliary component mounted on a shell.

[0008] In a preferred embodiment, the housing is provided with a driving component, the driving component including a first rotary motor connected to the housing, the first rotary motor driving a rotating plate, the rotating plate being connected to a second rotary motor, and the second rotary motor driving a side plate.

[0009] In a preferred embodiment, a fixing block one is connected to the side plate, a top plate is connected to the fixing block one, an electric push rod is connected to the top plate, the electric push rod drives a fixing block two, and a rotary motor three is connected to the fixing block two.

[0010] In one preferred embodiment, one end of the first fixing block is connected to a telescopic rod, and the other end of the telescopic rod is connected to a second fixing block.

[0011] In a preferred embodiment, the harvesting auxiliary component includes a storage box connected to the fixing block two, and the storage box is provided with a support rod.

[0012] In a preferred embodiment, the housing is equipped with a servo motor, which drives a tire.

[0013] In a preferred embodiment, the housing is provided with a collection box and a cleaning tank, and the cleaning tank is provided with a storage box.

[0014] In a preferred embodiment, the housing is provided with a classification component and a monitoring module.

[0015] In a preferred embodiment, the housing is provided with a juice storage chamber, the juice storage chamber is provided with an inlet and a protective shell, one end of the juice storage chamber is connected to a synchronous motor, the synchronous motor drives a spiral blade, and the spiral blade is located inside the protective shell.

[0016] In a preferred embodiment, a water filter hole is provided at one end of the protective shell.

[0017] In a preferred embodiment, a water outlet pipe is connected to the juice storage chamber, and an electric valve is provided on the water outlet pipe.

[0018] In a preferred embodiment, the housing is provided with an electric cylinder, which drives a connecting plate.

[0019] In one preferred embodiment, the electric cylinder is driven by a storage box.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] 1. The support rod on the storage box of this utility model serves to support the strawberry roots and stems. When the strawberry roots and stems are supported, the strawberry fruit is naturally exposed. This state creates better working conditions for the robotic arm of the picking component, so that it can more effectively and accurately match the picking component to cut and pick the strawberries. After being cut, the strawberries fall into the storage box, improving the accuracy and efficiency of picking.

[0022] 2. For strawberries of less than ideal quality but still usable, this invention features a juice storage chamber for juicing. A synchronous motor drives a spiral blade to crush the strawberries inside a protective shell. Impurities are filtered out through a filter hole at one end of the protective shell, and relatively pure strawberry juice is stored in the juice storage chamber. When needed, the juice can be discharged through a water outlet pipe and an electric valve for further processing, achieving comprehensive utilization of strawberries, reducing waste caused by poor quality, and improving the utilization rate of strawberries.

[0023] 3. This utility model device integrates a variety of automated components and realizes the coordinated work of each component through an external control system. From picking, assisted picking, washing, sorting to juice processing, the entire process does not require a lot of manual intervention, reducing the intensity of manual labor and reducing labor costs. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0025] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, under the guidance of this invention, can select various possible shapes and proportions to implement this invention according to specific circumstances.

[0026] Figure 1 This is a three-dimensional structural diagram of an intelligent strawberry picking device proposed in this utility model;

[0027] Figure 2 This is a three-dimensional structural diagram of an intelligent strawberry picking device proposed in this utility model;

[0028] Figure 3 This is an exploded view of the intelligent strawberry picking device proposed in this utility model;

[0029] Figure 4 This is a cross-sectional structural diagram of an intelligent strawberry picking device proposed in this utility model;

[0030] Figure 5 This is a cross-sectional structural diagram of an intelligent strawberry picking device proposed in this utility model;

[0031] Figure 6 This is a three-dimensional structural diagram of an intelligent strawberry picking device proposed in this utility model.

[0032] Figures 1-6 In the accompanying drawings, the reference numerals include:

[0033] 1. Shell; 2. Servo motor; 3. Tire; 4. Collection box; 5. Washing tank; 6. Storage box; 7. Sorting component; 8. Harvesting component; 9. Electric cylinder; 10. Connecting plate; 11. Harvesting auxiliary component; 12. Rotating plate; 13. Rotary motor one; 14. Rotary motor two; 15. Side plate; 16. Fixing block one; 17. Top plate; 18. Electric push rod; 19. Fixing block two; 20. Telescopic rod; 21. Rotary motor three; 22. Storage box; 23. Support rod; 24. Feed inlet; 25. Synchronous motor; 26. Protective shell; 27. Filter hole; 28. Spiral blade; 29. ​​Juice storage chamber; 30. Monitoring module; 31. Electric valve; 32. Water outlet pipe. Detailed Implementation

[0034] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0035] In the description of this utility model, it should be understood that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component that is centrally positioned therein. When a component is considered to be "set" on another component, it can be directly set on the other component or there may be a component that is centrally positioned therein.

[0036] Furthermore, terms such as "long," "short," "inner," and "outer" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientational configuration. Therefore, they should not be construed as limitations of this utility model.

[0037] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0038] See Figure 1-6 The present embodiment provides an intelligent strawberry picking device, including a picking component 8 and a picking auxiliary component 11 disposed on the housing 1.

[0039] Specifically, the picking component 8 is a robotic arm, and the gripping part of the robotic arm is replaced with a blade, so that the gripping is to cut off the strawberry root.

[0040] Specifically, a double-blade shearing structure with a V-shaped blade design is adopted to ensure vertical shearing force on the stem and avoid root damage caused by squeezing cuts.

[0041] The housing 1 is provided with a driving component, which includes a rotary motor 13 connected to the housing 1. The rotary motor 13 drives a rotary plate 12. The rotary plate 12 is connected to a rotary motor 14. The rotary motor 14 drives a side plate 15.

[0042] A fixing block 16 is connected to the side plate 15, a top plate 17 is connected to the fixing block 16, an electric push rod 18 is connected to the top plate 17, the electric push rod 18 drives and connects to a fixing block 2 19, and a rotary motor 3 21 is connected to the fixing block 2 19.

[0043] One end of the fixing block 16 is connected to the telescopic rod 20, and the other end of the telescopic rod 20 is connected to the fixing block 2 19.

[0044] The harvesting auxiliary component 11 includes a storage box 22 connected to the fixing block 2 19, and a support rod 23 is provided on the storage box 22.

[0045] The housing 1 is equipped with a servo motor 2, which drives the tire 3.

[0046] The housing 1 is provided with a collection box 4 and a cleaning tank 5, and the cleaning tank 5 is provided with a storage box 6.

[0047] Specifically, the cleaning tank 5 is equipped with an ultrasonic vibrator, which works in conjunction with clean water for vibration cleaning.

[0048] Specifically, when the ultrasonic vibrator is working, it generates high-frequency vibration waves. These vibration waves propagate rapidly in clean water, causing water molecules to vibrate violently and forming countless tiny bubbles. When these bubbles come into contact with the surface of the strawberries, they burst instantly, generating a powerful impact that removes dirt, dust, and pesticide residues from the strawberry surface. Combined with rinsing with clean water, the strawberries are cleaned thoroughly and without any blind spots. Compared to traditional water rinsing methods, ultrasonic vibration cleaning greatly improves cleaning efficiency and cleanliness. In the cleaning tank 5, the strawberries are constantly repositioned as the electric cylinder 9 drives the storage box 6, ensuring that every part receives full exposure to the ultrasonic vibration and water cleaning action. This cleaning method effectively removes impurities without damaging the delicate skin of the strawberries, maximizing their freshness and quality, and laying a solid foundation for subsequent sorting and storage.

[0049] The housing 1 is equipped with a classification component 7 and a monitoring module 30.

[0050] Specifically, monitoring module 30 includes an industrial camera, an infrared camera, and a high-speed camera.

[0051] Specifically, component 7 is a robotic arm, and the end gripping part of the robotic arm is made of flexible material.

[0052] Specifically, after the cleaned strawberries are transferred from washing tank 5, the sorting robotic arm begins its work methodically. Leveraging advanced image recognition and sensing technology, the robotic arm can accurately identify the size, color, and shape of the strawberries, and determine their grade based on preset classification standards. During the process of gripping and sorting the strawberries, the gripping parts made of flexible material at the ends demonstrate significant advantages. The flexible material is soft and elastic, adapting to the shape of the strawberries upon contact, applying just the right amount of gripping force. This ensures stable gripping of the strawberries, preventing them from falling during transfer, while avoiding excessive gripping force that could damage the delicate skin, thus maximizing the preservation of the strawberries' appearance and freshness.

[0053] For example, for high-quality strawberries with extremely delicate skin that are easily dented, the flexible clamping part can gently wrap the strawberry and place it steadily into the corresponding sorting area. Compared to traditional rigid clamping structures, this flexible design greatly reduces the loss rate of strawberries during the sorting process and significantly improves the accuracy and reliability of sorting. Through the efficient operation of sorting component 7, strawberries of different qualities are accurately sorted, providing great convenience for subsequent storage, sales, and other stages, fully leveraging the overall efficiency of the intelligent strawberry picking device, and helping the strawberry industry achieve higher-quality development.

[0054] The housing 1 is provided with a juice storage chamber 29, the juice storage chamber 29 is provided with an inlet 24 and a protective shell 26, one end of the juice storage chamber 29 is connected to a synchronous motor 25, the synchronous motor 25 drives a spiral blade 28, the spiral blade 28 is located inside the protective shell 26.

[0055] In another embodiment, the juice storage chamber 29 is equipped with a refrigeration device.

[0056] Specifically, refrigeration equipment mainly includes the following key components: compressor, condenser, throttling device such as expansion valve or capillary tube, evaporator, and external refrigeration control system, including temperature sensors and controllers. In addition, refrigeration equipment may also include auxiliary components such as refrigerant pipes, valves, filters, and fans (for condenser heat dissipation) to ensure the normal operation of the refrigeration system.

[0057] A water filter hole 27 is provided at one end of the protective shell 26.

[0058] A water outlet pipe 32 is connected to the juice storage chamber 29, and an electric valve 31 is installed on the water outlet pipe 32.

[0059] An electric cylinder 9 is provided on the housing 1, and the electric cylinder 9 drives the connecting plate 10.

[0060] The electric cylinder 9 is connected to the storage box 6 for driving.

[0061] The intelligent strawberry picking device provided in this embodiment works on the following principle:

[0062] When the device starts working, the servo motor 2 on the housing 1 drives the tires 3, enabling the entire device to move in the strawberry growing area and reach the appropriate picking position.

[0063] During the harvesting process, the harvesting component 8 plays the main harvesting role, while the harvesting auxiliary component 11 provides assistance. Specifically, the rotary motor 13 in the drive component is connected to the housing 1. When the rotary motor 13 is started, it drives the rotating plate 12 to rotate, adjusting the angle of the rotating plate 12 so that the subsequent components connected to the rotating plate 12 can be aligned with the strawberry position. After the rotary motor 14 on the rotating plate 12 is started, it drives the side plate 15 to rotate, further adjusting the harvesting angle and position. The fixing block 16, top plate 17, electric push rod 18, fixing block 19, and rotary motor 21 connected to the side plate 15 work together. The electric push rod 18 can extend as needed while being fixed by the top plate 17, adjusting the harvesting height position by driving the fixing block 19. At the same time, the telescopic rod 20 connected to one end of the fixing block 16 and the other end connected to the fixing block 19 also plays a role in assisting in position adjustment and stabilizing the structure. The rotary motor 21 drives the picking aid component 11, which is connected to the fixed block 19, to rotate, facilitating alignment with strawberries in different directions. The storage box 22 within the picking aid component 11 temporarily stores the picked strawberries. The support rod 23 on the storage box 22 supports the strawberry roots and stems, exposing the strawberries for harvesting with the picking component 8. The picking component 8 includes a robotic arm. When the robotic arm moves above the target strawberry, its end blades (double-edged shearing structure, V-shaped blade angle 15-20°) close, precisely gripping the strawberry stem and then performing a shearing action. Vertical shearing force is used to cut the strawberry roots, avoiding damage from compression. The cut strawberries are placed into the storage box 22 of the picking aid component 11.

[0064] Once the storage box 22 is full of strawberries, the control system issues a command, causing the drive component to extend synchronously and then retract. After retraction, the electric cylinder 9 drives the connecting plate 10 to raise the entire harvesting auxiliary component 11, moving the storage box 22 above the collection box 4 and pouring the strawberries into it. The strawberries in the collection box 4 are then sent to the loading box 6 in the washing tank 5. The electric cylinder 9 drives the connecting plate 10 and the loading box 6 to perform corresponding actions, allowing the loading box 6 to wash the strawberries in the washing tank 5. The washed strawberries are then sent to the sorting component 7. The robotic arm of the sorting component 7 uses a clamping part made of flexible material at its end to sort the strawberries according to the control system's instructions, placing strawberries of different qualities and sizes into appropriate positions. During the entire harvesting process, some strawberries that need to be juiced (such as those of poor quality but still usable) will enter the juice storage chamber 29 through the feed inlet 24. Synchronous motor 25 drives spiral blade 28 to rotate inside protective shell 26, squeezing and crushing the strawberries entering juice storage chamber 29. Juice flows out through filter hole 27 at one end of protective shell 26 and is stored in juice storage chamber 29. When juice needs to be drained, electric valve 31 opens, and juice flows out through outlet pipe 32 for further processing.

[0065] Furthermore, after the strawberries are picked by the picking component 8, there may be some impurities or juice. At this time, the washing tank 5 on the shell 1, in conjunction with an ultrasonic vibrator, can be used to clean the strawberries. After cleaning, the cleaned strawberries fall into the storage box 6 on the washing tank 5. The storage box 6 can be driven by an electric cylinder 9, which also drives a connecting plate 10. The position and state of the storage box 6 can be controlled by the extension and retraction of the electric cylinder 9, facilitating the collection and transfer of strawberries. When the storage box 6 is driven to the upper side by the electric cylinder 9, the cleaned strawberries can be placed into the collection box 4 by the sorting component 7. The collection box 4 is used to collect the cleaned and processed strawberries. Simultaneously, the sorting component 7 can classify the strawberries according to their size, ripeness, and other characteristics, improving the efficiency and quality of harvesting.

[0066] The monitoring module 30 can monitor the device's operating status and strawberry growth in real time, providing data support for the device's automated control. The juice storage chamber 29 plays a crucial role in strawberry juice processing. Strawberry juice enters the storage chamber 29 through the inlet 24, and the synchronous motor 25 drives the connected spiral blades 28 to rotate inside the protective shell 26, stirring and processing the juice. A filter hole 27 at one end of the protective shell 26 filters out impurities from the processed juice, storing the relatively pure juice in the storage chamber 29. When needed, it can be discharged through the outlet pipe 32, and the electric valve 31 on the outlet pipe 32 controls the discharge time and flow rate.

[0067] This intelligent strawberry picking device achieves automatic strawberry picking, washing, sorting, and juice processing through the coordinated work of its various components, improving the efficiency and quality of strawberry picking and reducing the intensity of manual labor.

[0068] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0069] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. An intelligent strawberry picking device, characterized in that, It includes a picking component (8) and a picking auxiliary component (11) disposed on the shell (1). The housing (1) is provided with a driving component, which includes a first rotary motor (13) connected to the housing (1), the first rotary motor (13) driving a rotating plate (12), the rotating plate (12) being connected to a second rotary motor (14), the second rotary motor (14) driving a side plate (15); the side plate (15) is connected to a first fixing block (16), the first fixing block (16) is connected to a top plate (17), the top plate (17) is connected to an electric push rod (18), the electric push rod (18) driving a second fixing block (19), the second fixing block (19) being connected to a third rotary motor (21); The housing (1) is provided with a classification component (7) and a monitoring module (30); The housing (1) is provided with a juice storage chamber (29), the juice storage chamber (29) is provided with an inlet (24) and a protective shell (26), one end of the juice storage chamber (29) is connected to a synchronous motor (25), the synchronous motor (25) drives a spiral blade (28), the spiral blade (28) is located inside the protective shell (26); A water filter hole (27) is provided at one end of the protective shell (26); The juice storage chamber (29) is connected to a water outlet pipe (32), and the water outlet pipe (32) is equipped with an electric valve (31).

2. The intelligent strawberry picking device according to claim 1, characterized in that, The picking auxiliary component (11) includes a storage box (22) connected to the fixed block two (19), and the storage box (22) is provided with a support rod (23).

3. The intelligent strawberry picking device according to claim 1, characterized in that, One end of the fixed block one (16) is connected to a telescopic rod (20), and the other end of the telescopic rod (20) is connected to a fixed block two (19).

4. The intelligent strawberry picking device according to claim 1, characterized in that, The housing (1) is equipped with a servo motor (2), which drives a tire (3).

5. The intelligent strawberry picking device according to claim 1, characterized in that, The housing (1) is provided with a collection box (4) and a cleaning tank (5), and the cleaning tank (5) is provided with a storage box (6).

6. The intelligent strawberry picking device according to claim 1, characterized in that, An electric cylinder (9) is provided on the housing (1), and the electric cylinder (9) drives the connecting plate (10). The electric cylinder (9) drives the storage box (6).

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