A tomato automatic harvesting equipment with limited cutting rhizome

Abstract

The invention discloses an automatic harvesting equipment for tomatoes with limited cutting of rhizomes. The structure includes a walking platform, a computer control display, a camera bracket, a camera, a mechanical arm, a fruit basket, a rhizome cutting device, and a storage pocket. The invention uses the armature to make the clamping plate rotate and wipe the U-shaped structure of the anti-rust structure to limit and fix the tomato stem joints. The piston and the fixing rod are used to push the knife tip and the knife head to move upwards, pass through the clamping plate, and cut. Tomato stem joints, at the same time, expand the interval of the cutting surface of the stem joints through the widening piece, prevent the cutting surface of the stem joints from sticking to the knife body, increase the friction force to hinder the movement of the knife tip, and then use the friction block and the scraping pad to adhere to the shearing tool Clean the juice on the surface, and at the same time, through the interaction force and deformation performance of the force release member and the booster pad, ensure that there is a certain extrusion force between the friction block, the scraping pad and the surface of the shearing tool, and ensure the adhesion of the contact surface. Combine the strength to completely clean the juice and prevent the residual juice from affecting subsequent use.

Description

technical field [0001] The invention relates to the field of agricultural harvesting machinery, more specifically, an automatic tomato harvesting device for limiting and cutting rhizomes. Background technique [0002] With the continuous strengthening of agricultural mechanization to the degree of intelligence, the agricultural labor force is gradually liberated. Due to the high labor intensity, time-consuming and labor-intensive picking of fruits, and the low picking efficiency, most of them use picking robots to pick ripe fruits intelligently, and then pick and store them by themselves. , the existing traditional technology is not considered comprehensively, and has the following disadvantages: [0003] At present, most of the picking robots for picking tomatoes first grab the fruit, and then break the fruit from the stem node through the rotation of the manipulator. However, since the tomato is a soft fruit, in order to ensure its integrity, the force used by the manipula...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the object of the present invention is to provide a tomato automatic harvesting equipment with limited cutting rhizomes, so as to solve the problem that most of the current picking robots in the prior art first grab the fruit and then use the manipulator to pick the tomato. The rotation of the robot breaks the fruit out of the stem node, but since the tomato is a soft fruit, in order to ensure its integrity, the force used by the manipulator is very limited, and it is often impossible to completely break the stem node, resulting in violent pulling, damage to the tomato, and Since tomatoes mostly grow in clusters, violent pulling can easily cause damage to other immature fruits and affect subsequent growth

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