CN-118318591-B - Full-automatic yacon picking and grading device

CN118318591BCN 118318591 BCN118318591 BCN 118318591BCN-118318591-B

Abstract

The invention relates to a full-automatic yacon picking and grading device which comprises a vehicle body, a stalk removing component, a fruit digging component and a grading component, wherein the stalk removing component is arranged at the front end of the vehicle body and is used for cutting stalks, the fruit digging component comprises an annular fixed seat and a plurality of shovels, the shovels are in sliding connection with the annular fixed seat, the interval is gradually reduced in the downward sliding process, the grading component comprises a stalk clamping piece, a fruit clamping piece and a tuber separating piece which are arranged on the vehicle body, the vehicle body moves along the yacon to be picked, the stalk removing component cuts the stalks of the yacon to a certain height, the vehicle body can move to the position where the fruit digging component is positioned above the yacon to be picked, the plurality of shovels can move downwards and dig the yacon, the stalk clamping piece can clamp the stems of the yacon which are not cut completely, and the tuber separating piece is used for separating the yacon from the fruits of the yacon, so that the automatic yacon picking function of the yacon is completed, and the use is convenient.

Inventors

LI YIBING
PENG RUIZHE
ZHAO DONGYANG
LIU XIAOYU
Zhuang Yongtai

Assignees

武汉理工大学

Dates

Publication Date: 20260512
Application Date: 20240426

Claims (7)

1. Full-automatic yacon picking and grading device, which is characterized by comprising: A vehicle body; the stalk removing assembly is arranged at the front end of the vehicle body and is used for shearing stalks; the fruit digging assembly comprises an annular fixing seat and a plurality of shovel blades, wherein the annular fixing seat is arranged on a vehicle body, the shovel blades are arranged along the circumference of the annular fixing seat, the shovel blades are in sliding connection with the annular fixing seat, and the intervals among the shovel blades in the process of sliding downwards are gradually reduced; A classification assembly including a stem grip mounted on a vehicle body, the stem grip to grip a stem portion of a yacon, a fruit grip to grip a fruit portion of the yacon, and a tuber separation member to separate the stem and the fruit of the yacon; The stalk removing assembly comprises an angle adjusting rod, a shearing and planting fixing block, a shearing frame, carding teeth, translation shearing teeth and a stalk removing driving piece, one end of the angle adjusting rod is connected with a vehicle body, the other end of the angle adjusting rod is fixedly connected with the carding teeth through the shearing and planting fixing block, the translation shearing teeth which are parallel and attached to the carding teeth are fixed at the bottom of the shearing frame, the shearing frame is connected with the angle adjusting rod through the stalk removing driving piece, and the stalk removing driving piece is used for driving the translation shearing teeth to move along the length direction of the translation shearing teeth; The angle adjusting rod is rotationally connected with the car body along the horizontal direction, and the carding teeth are perpendicular to the angle adjusting rod; The number of the stalk removing assemblies is two, and the two stalk removing assemblies are oppositely arranged at the two side positions of the front end of the vehicle body; The stalk removing driving piece comprises a supporting push rod, a poking rod, a translation push rod, a driven belt pulley, a belt, a driving belt pulley and a first motor, wherein one end of the supporting push rod is hinged with the shear frame, the other end of the supporting push rod is in sliding hinge connection with the angle adjusting rod, one end of the poking rod is hinged with one end of the supporting push rod, the other end of the poking rod is in butt joint with the translation push rod, the driven belt pulley, the driving belt pulley and the first motor are all arranged on the angle adjusting rod, the belt is sleeved on the driven belt pulley and the driving belt pulley, the output end of the first motor is connected with the driving belt pulley, and the bottom of the driven belt pulley is connected with the translation push rod through a cam so as to drive the translation push rod to swing periodically; Positioning the yacon by adopting a visual photographing mode, installing cameras on two sides of a vehicle body to form a binocular ranging device, acquiring images of the same area, and restoring the depth of the yacon in tubers according to the principle of triangular ranging and through a related algorithm to achieve identification and confirmation of the distance between the device and the yacon; The measurement accuracy of the binocular distance measuring device is expressed by the following formula: wherein: z represents the accuracy of the distance from any selected point in the camera image to the camera; z represents the absolute distance from the fixed position of the binocular distance device to the positioned yacon; f. b represents the focal length of the camera and the baseline distance, respectively; d represents parallax accuracy of the selected point; The binary image of the yacon is obtained after the operations of graying, filtering and binary image negation are sequentially carried out on the image of the yacon which is shot more completely, the external polygons of the outline are solved, the area and the perimeter are further obtained, the roundness of the image is calculated, and the image is expressed by the following formula: , wherein: t is the roundness of the image; s is the area of the image; l is the perimeter of the image.
2. The full-automatic yacon picking and grading device according to claim 1, wherein the annular fixing seat is slidably connected with the hollowed-out part of the vehicle body along the vertical direction, the full-automatic yacon picking and grading device further comprises a plurality of first sliding rails corresponding to the plurality of shovel blades one by one, the bottoms of the plurality of first sliding rails are fixedly connected with the annular fixing seat, the intervals between the plurality of first sliding rails are gradually widened along the vertical upward direction, and the tops of the shovel blades are slidably connected with the corresponding first sliding rails through a sliding sleeve.
3. The full-automatic yacon picking and grading device according to claim 2, further comprising a first oil cylinder, a spring and a vibration motor, wherein the first oil cylinder is mounted on the vehicle body, the output end of the first oil cylinder is connected with the fixed seat via the spring, and the vibration motor is mounted on the fixed seat for realizing soil block separation; The utility model also comprises a plurality of second oil cylinders which are in one-to-one correspondence with the plurality of shovel blades, the second oil cylinders are arranged on the fixed seat, the output end of the second oil cylinder is connected with the shovel blade and used for driving the shovel blade to slide.
4. The full-automatic yacon picking and grading device according to claim 1, wherein the stalk clamping member comprises a stalk clamping seat, two first clamping jaws, a second clamping jaw and a stalk clamping driving member, the stalk clamping seat is connected with the vehicle body, the two first clamping jaws are respectively connected with two sides of the stalk clamping seat in a rotating manner, the second clamping jaw is connected with the stalk clamping seat in a sliding manner along a direction approaching or separating from the two first clamping jaws, a first clamping gap for holding a stalk part of a yacon is formed between the two first clamping jaws and the second clamping jaw, and the stalk clamping driving member is mounted on the stalk clamping seat, and an output end of the stalk clamping driving member is connected with the two first clamping jaws and the second clamping jaw.
5. The full-automatic yacon picking and grading device according to claim 4, wherein the stalk clamping driving piece comprises a second motor, a driving screw, two connecting rods, two connecting brackets, two tension springs and two second sliding rails, the second motor is fixedly arranged in the stalk clamping seat, the output end of the second motor is connected with the driving screw, the driving screw penetrates through a threaded hole formed in the second clamping jaw, one ends of the two connecting rods opposite to each other are hinged with the second clamping jaw, one ends of the two connecting rods opposite to each other are respectively hinged with the two connecting brackets and the two second sliding rails, the two second sliding rails are respectively connected with the stalk clamping seat in a sliding manner, the two first clamping jaws are respectively connected with the two connecting brackets through the two tension springs, and the movement of the second clamping jaw is used for driving the two first clamping jaws to synchronously move.
6. The fully automatic yacon picking and grading device as in claim 1, wherein the fruit gripping member comprises a fruit gripping seat and two clamping plates, the fruit gripping seat is connected with the vehicle body, the middle parts of the two clamping plates are hinged and form a scissor shape, one ends of the two clamping plates are hinged with the fruit gripping seat, and the other ends of the two clamping plates form a second clamping gap for clamping the fruit part of the yacon.
7. The fully automatic yacon harvesting and grading device as in claim 1, wherein the tuber separating member comprises a separating seat and two scissors, the separating seat is connected with the vehicle body, the two scissors are hinged with the separating seat, and one end of the two scissors away from the separating seat is used for separating stalks and fruits of yacon.

Description

Full-automatic yacon picking and grading device Technical Field The invention relates to the technical field of yacon, in particular to a full-automatic yacon picking and grading device. Background The requirements of yacon increase year by year, the yacon introduction distribution range is wide, the planting area is large, and the topography is complex. The yacon root crops have overground parts comprising stems, leaves and flowers, and the stems grow vertically. Because the stems are positioned above the fruits and the fruits are buried in the soil, the position of the stems can interfere the digging process of the yacon, so that the yacon is not easy to pick. Disclosure of Invention In view of this, it is necessary to provide a fully automatic yacon picking and grading device to solve the problem that the picking of yacon is not easy because the stems are located above the fruits and the fruits are buried in the soil and the position of the stems interfere the picking process of yacon. The invention provides a full-automatic yacon picking and grading device which comprises a vehicle body, a stalk removing assembly, a fruit digging assembly and a grading assembly, wherein the stalk removing assembly is arranged at the front end of the vehicle body and is used for cutting stalks, the fruit digging assembly comprises an annular fixing seat arranged on the vehicle body and a plurality of shovel blades arranged along the circumference of the annular fixing seat, the shovel blades are in sliding connection with the annular fixing seat, the distance between the shovel blades in the process of sliding downwards is gradually reduced, the grading assembly comprises a stalk clamping piece, a fruit clamping piece and a tuber separating piece, the stalk clamping piece is arranged on the vehicle body and is used for clamping stalk parts of yacon, the fruit clamping piece is used for clamping fruit parts of yacon, and the tuber separating piece is used for separating the stalks and the fruits of the yacon. Further, remove the stalk subassembly and include the angle regulation pole, cut and plant the fixed block, cut the frame, comb the tooth, translation cut the tooth and remove the stalk driving piece, the one end and the automobile body coupling of angle regulation pole, the other end of angle regulation pole is via cut and plant the fixed block with comb tooth fixed connection, cut the bottom of frame be fixed with parallel and paste in comb the translation of tooth cut the tooth, cut the frame via remove the stalk driving piece with the angle regulation pole is connected, remove the stalk driving piece and be used for the drive translation cut the tooth and remove along its length direction. Further, the angle adjusting rod is rotationally connected with the car body along the horizontal direction, and the carding teeth are perpendicular to the angle adjusting rod; The number of the stalk removing assemblies is two, and the two stalk removing assemblies are oppositely arranged at two side positions of the front end of the vehicle body. Further, the stalk removing driving piece comprises a supporting push rod, a poking rod, a translation push rod, a driven pulley, a belt, a driving pulley and a first motor, wherein one end of the supporting push rod is hinged to the shear frame, the other end of the supporting push rod is hinged to the angle adjusting rod in a sliding mode, one end of the poking rod is hinged to one end of the supporting push rod, the other end of the poking rod is in butt joint with the translation push rod, the driven pulley, the driving pulley and the first motor are all installed on the angle adjusting rod, the belt is sleeved on the driven pulley and the driving pulley, the output end of the first motor is connected with the driving pulley, and the bottom of the driven pulley is connected with the translation push rod through a cam to drive the translation push rod to swing periodically. Further, the annular fixing seat is in sliding connection with the hollowed-out part of the vehicle body along the vertical direction, the annular fixing seat further comprises a plurality of first sliding rails in one-to-one correspondence with a plurality of shovel blades, the bottoms of the first sliding rails are fixedly connected with the annular fixing seat, the spaces between the first sliding rails are gradually widened along the vertical upward direction, and the tops of the shovel blades are in sliding connection with the corresponding first sliding rails through a sliding sleeve. Further, the soil block separating device also comprises a first oil cylinder, a spring and a vibrating motor, wherein the first oil cylinder is arranged on the vehicle body, the output end of the first oil cylinder is connected with the fixing seat through the spring, and the vibrating motor is arranged on the fixing seat and is used for realizing soil block separation; The utility model also comprises a plurality of second