A potato sorting device
By designing potato sorting equipment, using a tractor-driven towed mobile frame and parallel robots, the automated collection and sorting of potatoes is achieved, solving the problem of low efficiency in manual collection, improving collection efficiency and reducing labor intensity.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN WEIXIA ROBOT CO LTD
- Filing Date
- 2025-09-04
- Publication Date
- 2026-08-04
AI Technical Summary
Current potato collection methods rely on manual labor, which is inefficient and labor-intensive.
Design a potato sorting device, including a towable mobile frame, a front-facing camera, a parallel robot, a material frame, and a conveying structure. Driven by a tractor, the device uses the camera to acquire information about potatoes, and the robot grabs and conveys them to the material frame, thus achieving automated collection.
It improved potato collection efficiency, reduced manual labor intensity, and achieved automated potato collection and sorting.
Smart Images
Figure CN224586412U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of agricultural product harvesting technology, and more specifically, to a potato sorting device. Background Technology
[0002] The common method for collecting potatoes is to use a soil turning machine to turn the potatoes out of the soil and then manually bag them for collection. This method is labor-intensive and relatively inefficient. Utility Model Content
[0003] The problem this invention addresses is: how to improve the efficiency of potato collection.
[0004] To solve the above problems, this utility model provides a potato sorting device, comprising: A towable mobile chassis for connection to a tractor, the towable mobile chassis including a top platform; A front-facing camera is located at the end of the towable mobile frame facing the direction of soil turning and is connected to the lower end of the top platform, with the mirror surface of the front-facing camera facing the ground. A parallel robot is provided, which is spaced apart from the front-facing camera and located on the side of the front-facing camera away from the direction of soil turning. The parallel robot is connected to the lower end of the top platform, and the end of the parallel robot is provided with a potato gripping structure. The material frame is configured as an upward-opening box structure. The material frame is located below the top platform and on the side of the parallel robot away from the front-facing camera. The material frame is connected to the towable mobile frame. A first conveying structure is located between the parallel robot and the material frame. The inlet end of the first conveying structure is located near the bottom of the parallel robot, and the outlet end of the first conveying structure is located at the opening of the material frame. The controller is communicatively connected to the front-facing camera, the parallel robot, and the first conveying structure.
[0005] Optionally, the potato sorting equipment further includes a potato classification component, which includes a second conveying structure and a pushing structure. The material frame includes three spaced-apart potato storage slots, the length direction of which is consistent with the width direction of the towable mobile frame, and they are arranged sequentially along the turning direction. The second conveying structure is located above the three potato storage slots and is connected to the outlet end. The pushing structure is located on one side of the width direction of the second conveying structure and is connected to the towable mobile frame. The pushing structure is used to push potatoes into the potato storage slots. The controller is communicatively connected to the pushing structure and the second conveying structure.
[0006] Optionally, the potato sorting component further includes a weighing sensor, a weighing bracket, and a damping structure located below the second conveying structure. The bracket of the second conveying structure is connected to the damping structure, the damping structure is connected to the weighing bracket, the weighing sensor is connected to the weighing bracket, and the weighing sensor is connected to the towable mobile frame.
[0007] Optionally, the three potato storage troughs are arranged sequentially along the tilling direction as a premium product storage trough, a medium-grade storage trough, and a substandard product storage trough. The conveyor belt crosses the medium-grade storage trough and the substandard product storage trough, and the pushing structure is respectively provided for the medium-grade storage trough and the substandard product storage trough.
[0008] Optionally, the first conveying structure includes a first conveyor belt and multiple lifting baffles, each of the lifting baffles extending along the width direction of the first conveyor belt and protruding from the conveying surface of the first conveyor belt, and the multiple lifting baffles being distributed at intervals along the conveying direction of the first conveyor belt.
[0009] Optionally, the first conveying structure further includes anti-drop baffles, which are disposed at both ends of the width direction of the first conveyor belt and extend along the conveying direction.
[0010] Optionally, the first conveying structure further includes a vibration structure for vibrating the first conveyor belt.
[0011] Optionally, the first conveying structure further includes an inlet guard plate, which is fixed at the inlet end to prevent soil from entering the first conveying structure.
[0012] Optionally, the potato gripping structure includes a suction cup, which is connected to an air source component on the top platform.
[0013] Optionally, the pushing structure is provided with a potato positioning groove at one end facing the second conveying structure, and the opening of the potato positioning groove faces the conveying plane of the second conveying structure.
[0014] Compared with related technologies, the potato sorting equipment of this utility model connects to a tractor via a towable mobile frame, allowing the tractor to move the towable mobile frame in the tilling direction. The towable mobile frame has a gate-shaped cross-section along its width, enabling it to traverse the tilled ridges. A front-facing camera and a parallel robot are connected to the towable mobile frame, enabling their movement in the tilling direction. A first conveying structure is located between the parallel robot and the material frame. The material frame is located below the top platform and on the side of the parallel robot away from the front-facing camera, and is connected to the towable mobile frame. The conveying structure can establish a potato conveying track between the parallel robot and the material frame. Potatoes on the first conveying structure can be stored in the material frame. The controller communicates with the front camera, the parallel robot and the first conveying structure respectively. As the towed mobile frame moves along the soil turning direction, the front camera first obtains the shape and position information of the potatoes. The controller uses the shape and position information of the potatoes to drive the parallel robot to pick up the potatoes through the potato gripping structure and put them at the entrance of the first conveying structure. Under the control of the controller, the first conveying structure transports the potatoes from the entrance to the exit. The potatoes can fall freely into the material frame. As the tractor moves in the soil turning direction, potatoes are continuously picked up and stored. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of the potato sorting equipment connected to the tractor in an embodiment of the present invention; Figure 2 This is a schematic diagram of the potato sorting equipment in an embodiment of the present utility model; Figure 3 This is a schematic diagram of the first conveying structure in an embodiment of the present utility model; Figure 4 This is a view of the towable mobile vehicle frame in an embodiment of the present utility model; Figure 5 This is a schematic diagram illustrating the principle of potato weighing in this embodiment of the present invention.
[0016] Explanation of reference numerals in the attached figures: 100-Towable mobile frame; 110-Top platform; 111-Air source assembly; 200-Front-facing camera; 300-Parallel robot; 310-Potato gripping structure; 400-Material frame; 410-Premium product storage trough; 420-Medium product storage trough; 430-Defective product storage trough; 500-First conveyor structure; 510-First conveyor belt; 520-Lifting baffle; 530-Anti-drop baffle; 540-Drive motor; 550-Inlet guard plate; 600-Potato sorting assembly; 610-Second conveyor structure; 611-Second conveyor belt; 620-Pushing structure; 621-Potato positioning trough; 630-Sensor; 640-Weighing bracket; 650-Damping structure. Detailed Implementation
[0017] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.
[0018] In the attached figures, the X-axis represents the horizontal position, with the positive direction of the X-axis indicating the right side and the negative direction indicating the left side; the Y-axis represents the front-to-back position, with the positive direction of the Y-axis indicating the front and the negative direction indicating the back; the Z-axis represents the vertical position, with the positive direction of the Z-axis indicating the top and the negative direction indicating the bottom. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model.
[0019] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.
[0020] Combination Figures 1 to 4 As shown, this utility model embodiment provides a potato sorting device, including: A towable mobile chassis 100 for connection with a tractor, the towable mobile chassis 100 including a top platform 110; A front-facing camera 200 is located at the end of the towable mobile frame 100 facing the direction of soil turning and is connected to the lower end of the top platform 110, with the mirror surface of the front-facing camera 200 facing the ground. Parallel robot 300 is set at an interval from front camera 200 and is located on the side of front camera 200 away from the direction of soil turning. Parallel robot 300 is connected to the lower end of top platform 110 and potato gripping structure 310 is set at the end of parallel robot 300. The material frame 400 is configured as an upward-opening box structure. The material frame 400 is located below the top platform 110 and on the side of the parallel robot 300 away from the front camera 200. The material frame 400 is connected to the towable mobile frame 100. The first conveying structure 500 is located between the parallel robot 300 and the material frame 400. The inlet end of the first conveying structure 500 is located near the bottom of the parallel robot 300, and the outlet end of the first conveying structure 500 is located at the opening of the material frame 400. The controller is communicatively connected to the front-facing camera 200, the parallel robot 300, and the first conveying structure 500.
[0021] Specifically, the direction of soil turning refers to the positive Y-axis direction. The towable mobile vehicle frame 100 includes wheels and a frame for mounting the vehicle. The cross-sectional shape of the towable mobile vehicle frame 100 along its width direction (X-axis direction) is gate-shaped, and the upper end of the towable mobile vehicle frame 100 is a top platform 110. A front-facing camera 200 is installed at the front end of the towable mobile vehicle frame 100, that is, the end facing the direction of soil turning. The front-facing camera 200 is located below the top platform 100, with its mirror facing the ground. The front-facing camera 200 can acquire information about the shape and position of potatoes on the ground. The parallel robot 300 (Delta robot) is spaced apart from the front camera 200. The parallel robot 300 (Delta robot) is located behind the front camera 200. The parallel robot 300 (Delta robot) is connected to the ground-facing end of the top platform 110. The end of the parallel robot 300 (Delta robot) is equipped with a potato gripping structure 310, which can grip potatoes. The material frame 400 is configured as an upward-opening box structure. The material frame 400 is located below the top platform 110 and is located behind the parallel robot 300 (Delta robot) away from the front-facing camera 200. The material frame 400 is connected to the towable mobile frame 100. The first conveying structure 500 is located between the parallel robot 300 (Delta robot) and the material frame 400. The inlet end of the first conveying structure 500 faces the ground, and the outlet end of the first conveying structure 500 is located at the opening. The first conveying structure 500 is inclined as a whole between the material frame 400 and the parallel robot 300 (Delta robot).
[0022] The towable mobile frame 100 is connected to the rear end of the tractor, and the soil-turning mechanism is located between the towable mobile frame 100 and the tractor. As the tractor travels along the soil-turning direction, the towable mobile frame 100 can traverse the ridges. The soil-turning mechanism turns the potatoes out of the soil. The controller controls the operation of the first conveying structure 500. The front-facing camera 200 first acquires the shape and position information of the potatoes. The controller uses this information to drive the parallel robot 300 (Delta robot). The parallel robot 300 (Delta robot) uses the potato-grabbing structure 310 to pick up the potatoes and place them at the entrance of the first conveying structure 500. The first conveying structure 500 transports the potatoes from the entrance diagonally upwards along its conveying direction to the exit of the first conveying structure 500. The potatoes then fall freely into the feed frame 400. As the tractor continues to travel, potatoes are continuously picked up.
[0023] Therefore, in this embodiment, by connecting the towable mobile frame 100 to a tractor, the tractor can be used to move the towable mobile frame 100 in the tilling direction. Furthermore, because the cross-sectional shape of the towable mobile frame 100 along its width is gate-shaped, it can span the tilled ridge. The front-facing camera 200 and the parallel robot 300 are respectively connected to the towable mobile frame 100, enabling their movement in the tilling direction. A first conveying structure 500 is located between the parallel robot 300 and the material frame 400. The material frame 400 is located below the top platform 110 and on the side of the parallel robot 300 opposite to the front-facing camera 200. The material frame 400 is connected to the towable mobile frame 100. A potato conveying track can be established between the parallel robot 300 and the material frame 400. Potatoes on the first conveying structure 500 can be stored in the material frame 400. The controller communicates with the front camera 200, the parallel robot 300 and the first conveying structure 500 respectively. As the towed mobile frame 100 moves along the soil turning direction, the front camera 200 first obtains the shape and position information of the potatoes. The controller uses the shape and position information of the potatoes to drive the parallel robot 300 to pick up the potatoes through the potato gripping structure 310 and place them at the entrance end of the first conveying structure 500. Under the control of the controller, the first conveying structure 500 transports the potatoes from the entrance end to the exit end. The potatoes can fall freely into the material frame 400. As the tractor moves in the soil turning direction, potatoes are continuously picked up and stored.
[0024] Optionally, combined Figure 1 and Figure 2As shown, the potato sorting equipment also includes a potato sorting component 600, which includes a second conveying structure 610 and a pushing structure 620. The material frame 400 includes three potato storage slots spaced apart. The length direction of the three potato storage slots is consistent with the width direction of the towed mobile frame 100, and they are arranged sequentially along the soil turning direction. The second conveying structure 610 is located above the three potato storage slots and is connected to the outlet end. The pushing structure 620 is located on one side of the width direction of the second conveying structure 610 and is connected to the towed mobile frame 100. The pushing structure 620 is used to push potatoes into the potato storage slots. The controller is communicatively connected to the pushing structure 620 and the second conveying structure 610.
[0025] Specifically, the second conveying structure 610 can be a conveyor belt conveying structure, and specific methods can refer to existing technologies. The material frame 400 includes three potato storage slots spaced apart. The length direction of the three potato storage slots is consistent with the width direction of the towed mobile frame 100, and they are arranged sequentially along the soil turning direction. The second conveying structure 610 is located above the three potato storage slots and is connected to the towed mobile frame 100. The potatoes on the first conveying structure 500 can be horizontally conveyed by the second conveying structure 610 at the outlet end of the second conveying structure 500. The pushing structure 620 is located on one side of the width direction of the second conveying structure 610 and is connected to the towed mobile frame 100. Under the control of the controller, the second conveying structure 610 and the first conveying structure 500 operate. When the second conveying structure 610 transports potatoes, the controller controls the pushing structure 620 to operate. The pushing structure 620 pushes the potatoes from one side of the width of the second conveying structure 610 into the corresponding potato storage slot.
[0026] Thus, by aligning the length of the three potato storage troughs with the width of the towable mobile frame 100 and arranging them sequentially along the direction of soil turning, multiple potato storage areas can be formed within the material frame 400, making efficient use of the space. A second conveying structure 610, positioned above the three potato storage troughs and connected to the towable mobile frame 100, is connected to the outlet end. A pushing structure 620 is located on one side of the width of the second conveying structure 610, forming a potato transport track above the three potato storage troughs. The pushing structure 620 has the ability to push potatoes from the second conveying structure 610 into the corresponding potato storage troughs. A controller communicates with both the pushing structure 620 and the second conveying structure 610. Under the controller's control, the pushing structure 620 can systematically push potatoes from the second conveying structure 610 into the corresponding potato storage troughs, facilitating the selection of appropriate potato storage troughs based on actual conditions and improving the flexibility of potato collection.
[0027] Optionally, combined Figure 5 As shown, the potato sorting component 600 also includes a weighing sensor 630, a weighing bracket 640, and a damping structure 650 located below the second conveying structure 610. The bracket of the second conveying structure 610 is connected to the damping structure 650, the damping structure 650 is connected to the weighing bracket 640, the weighing sensor 630 is connected to the weighing bracket 640, and the weighing sensor 630 is connected to the towable mobile frame 100.
[0028] Specifically, from top to bottom, the support of the second conveying structure 610 is connected to the damping structure 650, the damping structure 650 is connected to the weighing support 640, the weighing sensor 630 is connected to the weighing support 640, and the weighing sensor 630 is connected to the towable mobile frame 100. The damping structure 650 is used to balance the weight of the second conveying structure 610. When the potato reaches the second conveying structure 610, the vertical change in weight obtained by the weighing sensor 630 is the weight of the potato. Based on the weight of the potato, the weight obtained by the weighing sensor 630 is divided into three levels: large, medium, and small. Among them, the medium and small weights each correspond to a pushing structure 620. When the weighing sensor 630 obtains a value indicating a light weight, the controller controls the push mechanism 620 for light weight to operate, pushing the potatoes into the corresponding potato storage slot; when the weighing sensor 630 obtains a value indicating a medium weight, the controller controls the push mechanism 620 for medium weight to operate, pushing the potatoes into the corresponding potato storage slot; when the weighing sensor 630 obtains a value indicating a heavy weight, the potatoes are transported to the corresponding potato storage slot by the conveying structure 610.
[0029] Thus, the second conveying structure 610 is connected to the support of the damping structure 650, the damping structure 650 is connected to the weighing support 640, the weighing sensor 630 is connected to the weighing support 640, and the weighing sensor 630 is connected to the towable mobile frame 100. The controller can control the operation of the corresponding pushing structure 620 according to the change of the weighing value of the weighing sensor 630, so as to improve the efficiency of potato autonomous sorting.
[0030] Optionally, combined Figure 2 As shown, the three potato storage troughs are arranged in sequence along the soil turning direction as a premium product storage trough 410, a medium-grade storage trough 420, and a substandard product storage trough 430. The second conveying structure 610 spans the medium-grade storage trough 420 and the substandard product storage trough 430. The medium-grade storage trough 420 and the substandard product storage trough 430 are respectively equipped with a pushing structure 620.
[0031] Specifically, the premium-grade storage trough 410, the medium-grade storage trough 420, and the substandard-grade storage trough 430 are arranged sequentially along the direction of soil turning. The second conveying structure 610 spans the medium-grade storage trough 420 and the substandard-grade storage trough 430. The medium-grade storage trough 420 and the substandard-grade storage trough 430 are respectively equipped with pushing structures 620. When the second conveying structure 610 transports heavy potatoes, the pushing structures 620 do not operate, and the heavy potatoes fall directly into the premium-grade storage trough 410 under the transport of the second conveying structure 610. When the second conveying structure 610 transports medium-grade potatoes, it operates in conjunction with the pushing structures 620 of the medium-grade storage trough 420, and the medium-grade potatoes fall into the medium-grade storage trough 420 under the pushing of the pushing structures 620. When the second conveying structure 610 transports light-grade potatoes, it operates in conjunction with the pushing structures 620 of the substandard-grade storage trough 430, and the light-grade potatoes fall into the substandard-grade storage trough 430 under the pushing of the pushing structures 620.
[0032] Thus, the three potato storage troughs along the soil turning direction are, in order, a premium product storage trough 410, a medium-grade storage trough 420, and a substandard product storage trough 430. The second conveying structure 610 spans the medium-grade storage trough 420 and the substandard product storage trough 430. The medium-grade storage trough 420 and the substandard product storage trough 430 are respectively equipped with a pushing structure 620, which can avoid the pushing structure 420 from pushing heavy potatoes and improve the sorting efficiency.
[0033] Optionally, combined Figure 3 As shown, the first conveying structure 500 includes a first conveyor belt 510 and multiple lifting baffles 520. Each lifting baffle 520 extends along the width direction of the first conveyor belt 510 and protrudes from the conveying surface of the first conveyor belt 510. The multiple lifting baffles 520 are distributed at intervals along the conveying direction of the first conveyor belt 510.
[0034] Specifically, the first conveying structure 500 also includes a drive motor 540 for driving the first conveyor belt 510 to rotate, and the drive motor 540 is drivenly connected to the first conveyor belt 510. The first conveyor belt 510 is inclined. Each lifting baffle 520 extends along the width direction of the first conveyor belt 510 and protrudes from the conveying surface of the first conveyor belt 510. Multiple lifting baffles 520 are distributed at intervals along the conveying direction of the first conveyor belt 510. As the first conveyor belt 510 runs, each lifting baffle 520 can lift the potatoes and prevent them from falling off the first conveyor belt 510.
[0035] Thus, by extending each lifting baffle 520 along the width direction of the first conveyor belt 510 and protruding from the conveying surface of the first conveyor belt 510, multiple lifting baffles 520 are distributed at intervals along the conveying direction of the first conveyor belt 510. Each lifting baffle 520 can lift the potato and prevent the potato from falling off the first conveyor belt 510, so as to ensure the reliability of conveying the potato from low to high.
[0036] Optionally, combined Figure 3 As shown, the first conveying structure 500 also includes anti-drop baffles 530, which are disposed at both ends of the width direction of the first conveyor belt 510 and extend along the conveying direction.
[0037] Specifically, the anti-drop baffles 530 are bolted to both ends of the first conveyor belt 510 in the width direction. The anti-drop baffles 530 extend along the conveying direction. The potatoes are between the two anti-drop baffles 530, and the two anti-drop baffles 530 prevent the potatoes from falling from the width direction of the first conveyor belt 510.
[0038] Thus, by setting the anti-drop baffles 530 at both ends of the width direction of the first conveyor belt 510, and extending along the conveying direction, the anti-drop baffles 530 can ensure the stability of the potatoes on the first conveyor belt 510 and prevent the potatoes from falling off the width direction of the first conveyor belt 510, thereby improving the conveying reliability of the potatoes.
[0039] Optionally, the first conveying structure 500 further includes a vibration structure for causing the first conveyor belt 510 to vibrate.
[0040] Specifically, the vibration structure is not required to be specific; it only needs to be able to make the first conveyor belt 510 vibrate. For example, the vibration structure can be a micro-vibrator, a rotary cam, etc. When the first conveyor belt 510 transports potatoes, the vibration structure causes the first conveyor belt 510 to vibrate, so as to shake off the soil on the potatoes.
[0041] Thus, by using a vibrating structure to make the first conveyor belt 510 vibrate, the first conveyor belt 510 can shake off the dirt on the potatoes during the transportation of potatoes, thereby cleaning the potatoes.
[0042] Optionally, combined Figure 3 As shown, the first conveying structure 500 also includes an inlet guard plate 550, which is fixed at the inlet end to prevent soil from entering the first conveying structure 500.
[0043] Specifically, after the land is turned up, it will protrude from the ground and be fixed at the entrance end by an entrance guard plate 550. The entrance guard plate 550 can collide with the soil clods to prevent soil from entering the first conveying structure 500.
[0044] Thus, by fixing the inlet guard plate 550 to the inlet end to prevent soil from entering the first conveying structure 500, the safety of the first conveying structure 500 can be guaranteed.
[0045] Optionally, combined Figure 2 As shown, the potato gripping structure 310 includes a suction cup, which is connected to the air source component 111 on the top platform 110.
[0046] Specifically, the suction cup is connected to the air source component 111 on the top platform 110 via an air pipe. When a potato needs to be picked up, the suction cup uses negative pressure to draw in the potato under the action of the air source component 111. The specific negative pressure value can be obtained through experimentation to ensure that the potato is successfully picked up.
[0047] Thus, by connecting the suction cup to the air source component 111 on the top platform 110, the suction cup can suck up the potato through negative pressure under the action of the air source component 111, thereby reducing the damage to the potato during the potato grabbing process.
[0048] Optionally, combined Figure 3 As shown, a potato positioning groove 621 is provided at one end of the pushing structure 620 facing the second conveying structure 610, and the opening of the potato positioning groove 621 faces the conveying plane of the second conveying structure 610.
[0049] Specifically, a potato positioning groove 621 is provided at one end of the pushing structure 620 facing the second conveying structure 610. The opening of the potato positioning groove 621 faces the conveying plane of the second conveying structure 610. When pushing the potato, the opening of the potato positioning groove 621 can restrict the potato from moving along the conveying direction of the second conveying structure 610, thus ensuring the effect of pushing the potato.
[0050] Thus, by providing a potato positioning groove 621 at one end of the pushing structure 620 facing the second conveying structure 610, and with the opening of the potato positioning groove 621 facing the conveying plane of the second conveying structure 610, the opening of the potato positioning groove 621 can restrict the movement of the potato along the conveying direction of the second conveying structure 610, thus ensuring the effect of pushing the potato.
[0051] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.
Claims
1. A potato sorting device, characterized in that, include: A towable mobile chassis (100) for connection with a tractor, the towable mobile chassis (100) including a top platform (110). A front-facing camera (200) is located at one end of the towable mobile frame (100) facing the direction of soil turning and is connected to the lower end of the top platform (110), with the mirror of the front-facing camera (200) facing the ground. Parallel robot (300), the parallel robot (300) is spaced apart from the front camera (200) and is located on the side of the front camera (200) away from the direction of soil turning. The parallel robot (300) is connected to the lower end of the top platform (110), and the end of the parallel robot (300) is provided with a potato gripping structure (310). The material frame (400) is configured as an upward-opening box structure. The material frame (400) is located below the top platform (110) and on the side of the parallel robot (300) away from the front camera (200). The material frame (400) is connected to the towable mobile frame (100). A first conveying structure (500) is located between the parallel robot (300) and the material frame (400). The inlet end of the first conveying structure (500) is located near the bottom of the parallel robot (300), and the outlet end of the first conveying structure (500) is located at the opening of the material frame (400). The controller is communicatively connected to the front-facing camera (200), the parallel robot (300), and the first conveying structure (500).
2. The potato sorting equipment according to claim 1, characterized in that, It also includes a potato sorting component (600), which includes a second conveying structure (610) and a pushing structure (620). The material frame (400) includes three potato storage slots spaced apart. The length direction of the three potato storage slots is consistent with the width direction of the towable mobile frame (100) and they are arranged sequentially along the soil turning direction. The second conveying structure (610) is located above the three potato storage slots and is connected to the outlet end. The pushing structure (620) is located on one side of the width direction of the second conveying structure (610) and is connected to the towable mobile frame (100). The pushing structure (620) is used to push potatoes into the potato storage slots. The controller is communicatively connected to the pushing structure (620) and the second conveying structure (610).
3. The potato sorting equipment according to claim 2, characterized in that, The potato sorting component (600) also includes a weighing sensor (630), a weighing bracket (640), and a damping structure (650) located below the second conveying structure (610). The bracket of the second conveying structure (610) is connected to the damping structure (650), the damping structure (650) is connected to the weighing bracket (640), the weighing sensor (630) is connected to the weighing bracket (640), and the weighing sensor (630) is connected to the towable mobile frame (100).
4. The potato sorting equipment according to claim 3, characterized in that, The three potato storage troughs are arranged in sequence along the soil turning direction as a premium product storage trough (410), a medium-grade storage trough (420), and a substandard product storage trough (430). The second conveying structure (610) spans the medium-grade storage trough (420) and the substandard product storage trough (430). The medium-grade storage trough (420) and the substandard product storage trough (430) are respectively provided with the pushing structure (620).
5. The potato sorting equipment according to claim 1, characterized in that, The first conveying structure (500) includes a first conveyor belt (510) and multiple lifting baffles (520). Each lifting baffle (520) extends along the width direction of the first conveyor belt (510) and protrudes from the conveying surface of the first conveyor belt (510). The multiple lifting baffles (520) are distributed at intervals along the conveying direction of the first conveyor belt (510).
6. The potato sorting equipment according to claim 5, characterized in that, The first conveying structure (500) further includes anti-drop baffles (530), which are disposed at both ends of the width direction of the first conveyor belt (510) and extend along the conveying direction.
7. The potato sorting equipment according to claim 5, characterized in that, The first conveying structure (500) further includes a vibration structure for causing the first conveyor belt (510) to vibrate.
8. The potato sorting equipment according to claim 1, characterized in that, The first conveying structure (500) also includes an inlet guard plate (550), which is fixed at the inlet end to prevent soil from entering the first conveying structure (500).
9. The potato sorting equipment according to claim 1, characterized in that, The potato gripping structure (310) includes a suction cup that is connected to an air source assembly (111) on the top platform (110).
10. The potato sorting equipment according to claim 2, characterized in that, The pushing structure (620) is provided with a potato positioning groove (621) at one end facing the second conveying structure (610), and the opening of the potato positioning groove (621) faces the conveying plane of the second conveying structure (610).