12 results about "Soft fruit" patented technology

The invention discloses a fresh-keeping method and a fresh-keeping device for a refrigeration shelf after picking of blueberries, belongs to the technical field of postharvest treatment of fruits and vegetables, takes natural metabolism regulation and control and cell stable quality regulation as core innovation points, breaks through the limitation that traditional controlled atmosphere fresh-keeping needs to depend on external energy and single nutrient enrichment, and improves the fresh-keeping effect of the blueberries. And organic unification of environmental control and physiological regulation is realized. The method is simple and convenient to operate, remarkable in effect, low in cost and high in safety, is not only suitable for preservation of picked blueberries, but also can be popularized to storage and transportation links of other perishable berries such as strawberries, blackberries and raspberries, provides an efficient, green and sustainable technical path for preservation of picked fruits and vegetables, and has important industrial popularization value and social application significance.

This invention discloses a plant-based material pressing solid-liquid separation device to prevent filter screen slag buildup, specifically relating to the field of solid-liquid separation technology. It includes a support frame with a separation component mounted on it. The separation component includes a solid-liquid separation cylinder located in the middle of the support frame, with an inner liner at the bottom of the inner cavity of the solid-liquid separation cylinder and a slag collection box on one side of the top of the inner liner. This invention uses both scraping and rolling methods for dynamic secondary solid-liquid separation of the material. In particular, the rolling and pressing action of the pressing balls can penetrate deep into the gaps between materials, breaking through the dead zones present in traditional static solid-liquid separation, ensuring efficient and effective solid-liquid separation. Simultaneously, the elastic wrapping cover's deformation adaptability and flexible pressure adjustment allow it to adapt to plant-based materials with different hardness and moisture content, such as soft fruits and vegetables to hard nuts. It can process multiple types of materials without replacing core components, broadening the equipment's application scenarios.

The invention discloses a fresh fruit processing transport device with a screening function, and relates to the technical field of fresh fruit processing equipment, the fresh fruit processing transport device comprises a moving support, the top of the moving support is rotatably connected with a conveying assembly, and a plurality of screening assemblies are fixedly installed at the positions, under a roller, of the moving support at equal intervals; according to the agricultural product fine screening device, a first piston rod in a liquid storage cylinder is driven by a rocker to do reciprocating motion, stable hydraulic circulation is formed, hydraulic pressure is transmitted to a second piston rod through a liquid conveying pipe and a sliding cylinder, and the second piston rod is driven by the rocker to do reciprocating motion; the fruits with different hardness are extruded by the air bags to have different deformations, the hard fruits can enable silicone oil to be smoothly discharged through the water outlet and push the second ball valve to act, the silicone oil cannot be discharged due to excessive deformation of the soft fruits, and therefore automatic identification of the hardness of the fruits is achieved.

The invention belongs to the technical field of robot picking, and discloses a soft fruit picking slip calculation method, device and equipment and a storage medium, and the method comprises the steps: obtaining surface deformation field data and distribution force field data when a soft fruit is picked, determining a slip contact area based on the distribution force field data, according to the displacement difference formed by all the contact points in the picking process, in combination with surface deformation field data, a contact surface slippage field is calculated, according to the rotation angular speed generated by all the contact points in the picking process, a rotation slippage component caused by fruit stem torsion is calculated, distribution force field data is input into a preset grabbing quality function, and the grabbing quality is obtained. A grabbing quality evaluation value of the end effector is obtained through calculation, and based on the sliding contact area, the contact surface sliding field, the rotating sliding component and the grabbing quality evaluation value, picking sliding information of the soft fruits is obtained through summarizing; by means of the method, the microscopic slippage phenomenon of the soft fruits in the picking process can be quantified.

To provide a means for suppressing the astringent taste of beverages that become apparent in beverages with a low soft fruit juice content and low sweetness. [Solution] Use frozen and finely ground fruit and / or vegetable products, or an alcohol-soaked solution of said frozen and finely ground products.

The utility model discloses an intelligent manipulator system for picking fruits with thick fruit stems, which relates to the technical field of manipulators, solves the problem that fruits are easy to damage due to the action of a fruit picking manipulator in the aspect of picking soft fruits, and comprises a high-degree-of-freedom mechanical arm, a shearing paw and a grabbing paw, the high-degree-of-freedom mechanical arm is installed on the driving walking equipment, the grabbing paw is installed at the driving end of the high-degree-of-freedom mechanical arm, the shearing paw is installed on the grabbing paw, the high-degree-of-freedom mechanical arm can freely move in a three-dimensional space, and the fruit picking task can be completed under the condition that fruits and fruit trees are prevented from being damaged; power transmission of the shearing paw and the grabbing paw is achieved through inverse movement of the crank sliding block mechanism, and the picking process can be divided into two stages. In the initial stage, fruits are grabbed and sheared; in the second stage, the fruits are released immediately after being moved to the designated position; and one-time picking operation is completed.

This delicate-fruit packaging includes: a container having a flat, substantially rectangular container bottom and four container side walls that extend upward from the entire peripheral edge of the container bottom to form an open-top container; a plurality of delicate fruits stored in either a single flat layer or two vertical layers in a storage space surrounded by the container side walls; and a heat-shrink film for wrapping so as to cover the plurality of delicate fruits and the entire periphery of the container. Or, this delicate-fruit packaging includes: a container having a container bottom where a delicate-fruit storage section is formed or a container having a storage space in which a buffer tray where a delicate-fruit storage section is formed is arranged; a plurality of delicate fruits stored in the delicate-fruit storage section; and a heat-shrink film for wrapping so as to cover the plurality of delicate fruits and the entire periphery of the container. This delicate-fruit packaging satisfies a specific condition.

The invention belongs to the technical field of robots, and particularly relates to a rigid-flexible fruit picking robot based on visual identification and a picking method.The rigid-flexible fruit picking robot based on visual identification comprises an execution machine and a plurality of collecting devices, and the collecting devices are arranged on one side of the execution machine; the executing machine comprises a walking mechanism, a visual sensor is arranged on the upper surface of the walking mechanism, two mechanical arms are fixedly installed on the upper end face of the walking mechanism, the executing ends of the mechanical arms are detachably connected with a picking and grabbing device, cameras are arranged at the upper ends of the mechanical arms, scanners are arranged at the side ends of the mechanical arms, and the mechanical arms are connected with the cameras. Compared with an existing picking robot, the apple picking robot has the advantages that a multi-mechanical-arm collaborative operation framework is innovatively adopted, the independent scanner and the independent camera are arranged, synchronous operation is achieved when a picking task is executed, and the overall operation efficiency of apple picking is remarkably improved.

The invention discloses a plant material squeezing solid-liquid separation device capable of preventing a filter screen from slagging, and particularly relates to the technical field of solid-liquid separation.The plant material squeezing solid-liquid separation device comprises a supporting frame, a separation assembly is arranged on the supporting frame and comprises a solid-liquid separation cylinder arranged in the middle of the supporting frame, and a lining cylinder is arranged at the bottom of an inner cavity of the solid-liquid separation cylinder; and a slag storage box is arranged on one side of the top of the lining cylinder. Dynamic secondary solid-liquid separation is carried out on materials in a scraping mode and a rolling mode, particularly, rolling and rolling of a squeezing ball can penetrate into gaps of the materials, dead corners existing in traditional static solid-liquid separation are broken through, the solid-liquid separation efficiency and effect are ensured, and meanwhile due to deformation adaptability and flexible pressure adjustment of an elastic wrapping cover, the solid-liquid separation efficiency is improved. The device can be suitable for plant materials with different hardness and water content, such as soft fruits and vegetables and hard nuts, processing of multiple kinds of materials can be achieved without replacing core components, and the application scene of the device is widened.

The utility model discloses a fruit longitudinal and horizontal diameter measuring ware, which comprises a measuring ware body, a supporting base fixedly connected to the bottom of the measuring ware body, a horizontal diameter scale arranged on the top of the measuring ware body and a horizontal diameter measuring assembly arranged in the measuring ware body. The actual maximum size can be accurately found, the measurement error is greatly reduced, the problem of large measurement deviation in the traditional fixed direction is solved, the fruit position can be repeatedly adjusted without manual labor, the fruit measuring ware is suitable for complex morphological fruits such as strawberries and mangoes and the same kind of irregular fruits, manual operation damage to small or soft fruits is avoided, meanwhile, the automation angle adjustment replaces manual operation, the operation efficiency is improved, the data deviation caused by subjective judgment of different operators is reduced, the fine requirement of scientific research on fruit morphological symmetry analysis, high-standard grading regularity evaluation and long-term growth tracking can be met, and the fruit measuring ware is no longer limited to scenes with low precision requirement and unified fruit morphology.

The present invention provides a means for suppressing the astringent taste of a beverage that is apparent in a beverage having a low content of soft fruit juice and a low degree of sweetness.　A frozen pulverized product of fruits and / or vegetables or an alcohol immersion liquid of the frozen pulverized product is used.

The application belongs to the technical field of robot picking, and discloses a soft fruit picking sliding calculation method, device, equipment and storage medium, the method comprises the following steps: acquiring surface deformation field data and distributed force field data when picking soft fruits, determining a sliding contact area based on the distributed force field data, calculating a contact surface sliding field according to the displacement difference formed by each contact point in the picking process, combining the surface deformation field data, calculating a rotational sliding component caused by the twisting of the fruit stem according to the rotational angular velocity generated by each contact point in the picking process, inputting the distributed force field data into a preset grasping quality function to calculate the grasping quality evaluation value of the end effector, and based on the sliding contact area, the contact surface sliding field, the rotational sliding component and the grasping quality evaluation value, the picking sliding information of the soft fruit is summarized. Through the above method, the micro sliding phenomenon of the soft fruit in the picking process can be quantified.