CN119568493A - Single-line multipath celery cabbage leaf removing and boxing device and control method thereof - Google Patents
Single-line multipath celery cabbage leaf removing and boxing device and control method thereof Download PDFInfo
- Publication number
- CN119568493A CN119568493A CN202411797725.8A CN202411797725A CN119568493A CN 119568493 A CN119568493 A CN 119568493A CN 202411797725 A CN202411797725 A CN 202411797725A CN 119568493 A CN119568493 A CN 119568493A
- Authority
- CN
- China
- Prior art keywords
- conveying
- correction
- chinese cabbage
- leaf removal
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention provides a single-line multipath celery cabbage leaf removing and boxing device and a control method thereof, wherein the correcting mechanism is positioned behind an upper harvesting part and used for correcting the posture of a celery cabbage, the conveying mechanism is arranged in the length extending direction below the correcting mechanism and used for adjusting the celery cabbage to enter the conveying mechanism in the axial direction, at least two stages of image acquisition systems and at least two stages of leaf removing mechanisms are arranged in the length extending direction above the conveying mechanism and used for conveying the celery cabbage backwards, at least two stages of transfer mechanisms are arranged on the side edges of the conveying mechanism, the controller is respectively connected with the image acquisition systems, the leaf removing mechanisms and the transfer mechanisms, the image acquisition systems are used for acquiring the images of the celery cabbage and transmitting the images to the controller, and the controller is used for controlling the leaf removing mechanisms to remove the leaf of the celery cabbage at least once and controlling the corresponding transfer mechanisms to transfer the removed celery cabbage to a turnover box. The invention can efficiently realize the leaf removing and ordered boxing operation of the cabbages.
Description
Technical Field
The invention relates to celery cabbage processing and transporting equipment, in particular to a single-line multipath celery cabbage leaf removing and boxing device and a control method thereof.
Background
After preliminary rooting, the Chinese cabbages harvested from the field need to be removed from damaged outer leaves, and the Chinese cabbages are orderly placed into a turnover basket to be sent into a processing plant. At present, the leaf removing and basket loading operation after the Chinese cabbage harvesting is mainly carried out through manually holding props for cutting, stripping and stacking, so that the efficiency is low, and the burden on workers is high. CN118556502a discloses a full-automatic cabbage harvester, which has a certain effect of removing outer leaves when in use, but the cabbages are easy to accumulate in the rolling process, a dredging device is not arranged, the sequential basket loading operation is inconvenient to follow, meanwhile, the sequential basket loading step is not designed, and a large amount of space waste is easy to be caused by columnar cabbages in a disordered basket loading state.
Disclosure of Invention
Aiming at the technical problems, the invention provides a single-line multipath cabbage leaf removing and boxing device which can efficiently realize leaf removing and ordered boxing operation of cabbages.
The invention also provides a control method for removing leaves and boxing of the single-line multipath cabbages.
Note that the description of these objects does not prevent the existence of other objects. Not all of the above objects need be achieved in one embodiment of the present invention. Other objects than the above objects can be extracted from the description of the specification, drawings, and claims.
The present invention achieves the above technical object by the following means.
A single-line multipath cabbage leaf removing and boxing device comprises a correcting mechanism, a conveying mechanism and a controller;
The correcting mechanism is positioned at the rear of the upper harvesting part and is used for correcting the posture of the Chinese cabbage falling from the upper harvesting part, a conveying mechanism is arranged in the length extending direction below the correcting mechanism, the correcting mechanism adjusts the Chinese cabbage to enter the conveying mechanism in the axial direction, the conveying mechanism is used for conveying the Chinese cabbage backwards, at least two stages of image acquisition systems and at least two stages of defoliation mechanisms are arranged in the length extending direction above the conveying mechanism, at least two stages of transfer mechanisms are arranged on the side edges of the conveying mechanism, the controllers are respectively connected with the image acquisition systems, the defoliation mechanisms and the transfer mechanisms, the image acquisition systems are used for acquiring images of the Chinese cabbage and transmitting the images to the controllers, and the controllers control the defoliation mechanisms to defoliate the Chinese cabbage at least once and control the corresponding transfer mechanisms to transfer the defoliated Chinese cabbage to the turnover box.
In the above scheme, the two-stage image acquisition system comprises a first image acquisition system and a second image acquisition system, the two-stage defoliation mechanism comprises a first defoliation mechanism and a second defoliation mechanism, and the two-stage transfer mechanism comprises a first transfer mechanism and a second transfer mechanism;
the system comprises a correction mechanism, a first image acquisition system, a first defoliation mechanism, a second image acquisition system, a second defoliation mechanism, a second transfer mechanism, a first transfer mechanism, a second transfer mechanism and a first transfer mechanism, wherein the first image acquisition system is positioned behind the correction mechanism;
The first image acquisition system is used for acquiring the cabbage images after posture correction of the correcting mechanism, identifying the outer leaves of the cabbages and transmitting the cabbage images to the controller, the controller generates a leaf removing range and controls the first leaf removing mechanism to carry out first leaf removing operation, the second image acquisition system acquires the cabbage images subjected to first leaf removing and transmits the cabbage images to the controller, the controller judges whether leaf removing is needed again, if the leaf removing is not needed again, the controller controls the first transfer mechanism to transfer cabbages to the turnover box, if the leaf removing is needed again, the cabbages move to the second leaf removing mechanism along with the conveying mechanism, the controller controls the second leaf removing mechanism to carry out second leaf removing operation again, and controls the second transfer mechanism to transfer the cabbages subjected to the leaf removing again to the turnover box.
In the scheme, the correcting mechanism comprises a left conveying flat belt and a right conveying flat belt, wherein the right conveying flat belt and the left conveying flat belt have the same structure and are arranged in a v-shaped mirror image;
The left conveying flat belt comprises a group of correction substrates, one ends of the correction substrates are fixedly connected with a group of headstocks, the other ends of the correction substrates are fixedly connected with a group of tailstocks, correction driven shafts are rotatably connected between the tailstocks, correction driving shafts are rotatably connected between the headstocks, one ends of the correction driving shafts are provided with correction synchronous belt driven wheels, the correction synchronous belt driven wheels are connected with correction synchronous belt driving wheels of a correction gear motor through correction synchronous belts, one section of the correction substrates, close to the headstock, is fixedly connected with a correction gear motor mounting plate, a correction gear motor is mounted on the correction gear motor mounting plate, and the correction gear motor is mounted on the non-bearing surface side of the left conveying belt.
Further, the left conveying flat belt takes 135-150 degrees with the polar axis as a reference, and the right conveying flat belt takes 30-45 degrees with the polar axis as a reference.
In the above scheme, the conveying mechanism comprises a conveying substrate, a conveying bearing seat mounting plate, a conveying bearing seat, a conveying driving shaft, a conveying driven shaft, a chain wheel, a conveying motor mounting plate, a conveying speed reducing motor, a conveying slave synchronizing wheel, a conveying main synchronizing wheel, a conveying synchronizing belt and two chains;
The conveying driving shaft is arranged at one end of the conveying base body, the conveying driven shaft is arranged at the other end of the conveying base body, two chain wheels are respectively arranged on the conveying driving shaft and the conveying driven shaft, the conveying driving shaft and the conveying driven shaft are respectively arranged on the upper surface of the conveying base body through conveying bearing seat mounting plates, a conveying slave synchronous wheel is arranged at one end of the conveying driving shaft and is connected with the conveying main synchronous wheel of the conveying speed reducing motor through a conveying synchronous belt, one end of the conveying base body is connected with the conveying speed reducing motor mounting plate, the conveying speed reducing motor is arranged on the conveying speed reducing motor mounting plate, and two chain strips are mutually arranged in parallel and are wrapped on the chain wheels at two ends of the conveying base body in a one-to-one correspondence mode.
Further, a plurality of chain supporting mechanisms are arranged between the chains and the conveying basal body;
The chain supporting mechanism comprises a chain supporting cushion block, a chain supporting shaft, a chain supporting bearing seat and a chain supporting sprocket, wherein the chain supporting sprocket is arranged at one end of the chain supporting shaft, the other end of the chain supporting shaft penetrates through the chain supporting bearing seat, the chain supporting bearing seat is connected with the chain supporting cushion block, and the chain supporting cushion block is arranged on the surface of the conveying base body.
In the scheme, the defoliation mechanism comprises a left defoliation part and a right defoliation part, wherein the right defoliation part is consistent with the left defoliation part in structure, and the left defoliation part and the right defoliation part are arranged in a mirror image manner;
The left defoliation part comprises a range adjustment module and a force adjustment module, wherein the range adjustment module comprises a range adjustment module base, two ends of the range adjustment module base are respectively connected with a module bearing bottom flat plate and a module motor installation flat plate, a module stepping motor is connected with the module motor installation flat plate, a screw bearing seat is connected with the range adjustment module base, two ends of a screw are respectively rotatably arranged on the module bearing bottom flat plate and the screw bearing seat, a screw guide rail is arranged on the range adjustment module base, a screw thread is arranged in the middle of a slide block and is matched with the screw thread, and the slide block moves linearly along the screw guide rail through a module stepping motor driving coupling and the screw;
The power adjusting module comprises a power adjusting base, wherein a module mounting plate is arranged at the lower end of the power adjusting base, the lower part of the module mounting plate is connected with a sliding block of the range adjusting module, the sliding block drives the module mounting plate to do linear motion, an L-shaped motor mounting plate is arranged at the upper end of one face of the power adjusting base and connected with a gear motor, two L-shaped bearing seats which are mirror images are respectively arranged at two sides of the other face of the power adjusting base, bearing seats are respectively arranged at the notch of the two L-shaped bearing seats, a rotating brush is sleeved on a rotating brush shaft, locking pieces are abutted to two sides of the rotating brush, two ends of the rotating brush shaft are respectively connected with the bearing seats in a rotating mode, and one end of the rotating brush shaft is provided with a driven synchronous wheel and connected with a driving synchronous wheel of the gear motor through a synchronous belt.
Further, the included angle between the rotating brush of the left defoliation part and the rotating brush of the right defoliation part is 30-50 degrees.
In the above scheme, the transfer mechanism comprises an ejection part, a transition part and a guide part;
The ejection part comprises an ejection bottom plate connected with the conveying substrate, ejection support plates are arranged on two sides of the ejection bottom plate, the ejection plates are arranged on ejection fixing shafts, two ends of the ejection fixing shafts are respectively and rotatably connected with the ejection support plates, the bottoms of the ejection electric cylinders are rotatably connected with the ejection bottom plate, and the tops of the ejection electric cylinders are rotatably connected with one sides of the ejection plates;
The transition part comprises a transition guide substrate, two transition mounting plates are arranged on two sides of the top of the transition guide substrate, two transition mounting plates are respectively provided with a transition bearing seat, two ends of a transition shaft are respectively connected with the transition bearing seats in a rotating way, a plurality of turnover plates are sleeved between the two transition bearing seats of the transition shaft, and the turnover plates are positioned on the other side of the ejector plate;
The guide part comprises a guide bottom plate, wherein the guide bottom plate is arranged on a transition guide substrate, two sides of a guide mounting bottom plate are respectively provided with a guide supporting plate, the guide plates are arranged on a guide fixing shaft, two ends of the guide fixing shaft are respectively and rotatably connected with the guide supporting plates, the bottom of a guide electric cylinder is rotatably connected with the guide bottom plate, and the top of the guide electric cylinder is hinged with one side of the guide plate through a guide movable shaft;
The ejection plate is used for ejecting the celery cabbage and sending the celery cabbage into the turnover plate, the turnover plate is used for conveying the celery cabbage to the guide plate, and the guide plate is used for conveying the celery cabbage to the turnover box.
A control method of the single-line multipath celery cabbage leaf removing and boxing device comprises the following steps:
The method comprises the steps of collecting a part of Chinese cabbage from a higher level to fall into a correcting mechanism for posture correction, collecting a Chinese cabbage image after posture correction of the correcting mechanism by a first image collecting system, identifying the outer leaves of the Chinese cabbage, transmitting the image to a controller, generating a defoliation range by the controller, falling the Chinese cabbage into a conveying mechanism from the correcting mechanism, controlling the first defoliation mechanism to carry out first defoliation operation by the controller according to the defoliation range, collecting the Chinese cabbage image subjected to the first defoliation by the second image collecting system, transmitting the image to the controller, judging whether secondary defoliation is needed by the controller, controlling the first transferring mechanism to transfer the Chinese cabbage to a turnover box if the secondary defoliation is not needed, and controlling the second defoliation mechanism to carry out second defoliation operation by the Chinese cabbage along with the conveying mechanism if the second defoliation is needed, and controlling the second transferring mechanism to transfer the turnover box after the second defoliation.
Compared with the prior art, the invention has the beneficial effects that:
In one mode of the invention, the input cabbages are adjusted to axially enter the double-row conveying mechanism through the correcting mechanism, the image acquisition system acquires the cabbages images and transmits the cabbages images to the controller, the controller controls the leaf removing mechanism to remove leaves of the cabbages at least once, and controls the corresponding transferring mechanism to transfer the cabbages subjected to leaf removal to the turnover box, so that leaf removing and ordered boxing operation of the cabbages can be efficiently realized.
In one mode of the invention, the input cabbages are adjusted to axially enter the double-row conveying mechanism through the correcting mechanism, the first image acquisition system acquires the cabbages images corrected by the posture of the correcting mechanism, the outer leaves of the cabbages are identified and transmitted to the controller, the controller generates a leaf removing range and controls the first leaf removing mechanism to carry out first leaf removing operation, the second image acquisition system acquires the cabbages images subjected to the first leaf removing operation and transmits the images to the controller, the controller judges whether secondary leaf removing is needed or not, if the secondary leaf removing is not needed, the controller controls the first transfer mechanism to transfer the cabbages to the turnover box, if the secondary leaf removing is needed, the cabbages move to the second leaf removing mechanism along with the conveying mechanism, the controller controls the second leaf removing mechanism to carry out second leaf removing operation, and controls the second transfer mechanism to transfer the cabbages subjected to the second leaf removing operation to the turnover box, and the orderly boxing operation of the cabbages can be effectively realized.
Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above are obvious and can be extracted from the description of the specification, drawings, claims, and the like.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a correcting mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a conveying mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of a defoliation mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a transfer mechanism according to an embodiment of the present invention.
In the figure, 1, an upper harvesting part, 2, a correction mechanism, 3, a first image acquisition system, 4, a first defoliation mechanism, 5, a conveying mechanism, 6, a first transfer mechanism, 7, a turnover box, 8, a second image acquisition system, 9, a second defoliation mechanism, 10, a second transfer mechanism, 21, a left conveying flat belt, 22, a right conveying flat belt, 201, a headstock, 202, a tailstock, 203, a correction matrix, 204, a correction gear motor mounting plate, 205, a correction gear motor, 206, a flat belt, 207, a tray, 208, a correction synchronous belt driven wheel, 209, a correction synchronous belt driving wheel, 210, a correction synchronous belt, 211, a correction driving shaft, 212 and a correction driven shaft; 41, left defoliating section, 42, right defoliating section, 401, force adjusting base, 402, inter-module mounting plate, 403, L-shaped bearing housing, 404, rotating brush shaft, 405, locking piece, 406, rotating brush, 407, gear motor, 408, L-shaped motor mounting plate, 409, driving synchronizing wheel, 410, timing belt, 411, driven synchronizing wheel, 412, bearing housing, 413, slider, 414, screw, 415, module bearing bottom plate, 416, screw bearing housing, 417, range adjusting module base, 418, module motor mounting plate, 419, screw guide rail, 420, driving coupler, 421, module stepping motor, 51, chain supporting mechanism, 501, conveying base, 502, conveying bearing housing mounting plate, 503, conveying bearing housing, 504, conveying driving shaft, 505, conveying driving shaft, 506, sprocket, 507, conveying motor mounting plate, 508, conveying gear motor, 509, conveying main synchronizing wheel, 510, conveying slave synchronizing wheel, 511, conveying synchronizing belt, 512, rubber block cover, 513, chain supporting pad, 514, chain supporting shaft, 515, supporting shaft, 516, the chain supporting chain comprises a chain supporting chain wheel 61, an ejection part 62, a transition part 63, a guide part 601, an ejection bottom plate 602, an ejection supporting plate 603, an ejection electric cylinder 604, an ejection plate 605, an ejection fixed shaft 606, a transition guide base 607, a transition mounting plate 608, a transition motor mounting plate 609, a gear motor 610, a transition shaft 611, a turnover plate 612, a transition bearing seat 613, a coupling 614, a guide mounting bottom plate 615, a guide supporting plate 616, a guide electric cylinder 617, a guide movable shaft 618, a guide fixed shaft 619, a guide plate 620 and a baffle plate.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Fig. 1-5 show a preferred embodiment of the single-line multipath cabbage leaf removing and boxing device, which comprises a correction mechanism 2, an image acquisition system, a leaf removing mechanism, a conveying mechanism 5, a transferring mechanism and a controller.
The correcting mechanism 2 is positioned at the rear of the upper harvesting part 1 and is used for correcting the posture of the Chinese cabbage falling from the upper harvesting part 1, a conveying mechanism 5 is arranged in the length extending direction below the correcting mechanism 2, the correcting mechanism 2 adjusts the Chinese cabbage to enter the conveying mechanism 5 in the axial direction, the conveying mechanism 5 is used for conveying the Chinese cabbage backwards, at least two stages of image acquisition systems and at least two stages of leaf removing mechanisms are arranged in the length extending direction above the conveying mechanism 5, at least two stages of transfer mechanisms are arranged on the side edges of the conveying mechanism 5, the controllers are respectively connected with the image acquisition systems, the leaf removing mechanisms and the transfer mechanisms, the image acquisition systems are used for acquiring images of the Chinese cabbage and transmitting the images to the controllers, and the controllers control the leaf removing mechanisms to remove at least one leaf of the Chinese cabbage and control the corresponding transfer mechanisms to transfer the Chinese cabbage after leaf removal to the turnover box 7.
The single line in the single line multipath celery cabbage leaf removing and boxing device refers to a route that the correction mechanism 2 adjusts the celery cabbage to axially enter the conveying mechanism 5, and the multipath refers to the fact that the number of the image acquisition system, the leaf removing mechanism, the transfer mechanism and the turnover box 7 can be increased according to the needs.
The two-stage image acquisition system comprises a first image acquisition system 3 and a second image acquisition system 8, the two-stage defoliation mechanism comprises a first defoliation mechanism 4 and a second defoliation mechanism 9, and the two-stage transfer mechanism comprises a first transfer mechanism 6 and a second transfer mechanism 10;
the first image acquisition system 3 is positioned at the rear of the correction mechanism 2, the first defoliation mechanism 4 is positioned at the rear of the first image acquisition system 3, the second image acquisition system 8 is positioned at the rear of the first defoliation mechanism 4, and the second defoliation mechanism 9 is positioned at the rear of the second image acquisition system 8;
The first image acquisition system 3 is used for acquiring the cabbage image corrected by the posture of the correcting mechanism 2, identifying the outer leaves of the cabbage and transmitting the cabbage image to the controller, the controller generates a leaf removing range and controls the first leaf removing mechanism 4 to carry out first leaf removing operation, the second image acquisition system 8 acquires the cabbage image subjected to first leaf removing and transmits the cabbage image to the controller, the controller judges whether leaf removing is needed again, if the leaf removing is not needed again, the controller controls the first transfer mechanism 6 to transfer the cabbage to the turnover box 7, if the leaf removing is needed again, the cabbage advances to the second leaf removing mechanism 9 along with the conveying mechanism 5, the controller controls the second leaf removing mechanism 9 to carry out second leaf removing operation, and controls the second transfer mechanism 10 to transfer the cabbage subjected to the leaf removing again to the turnover box 7.
As shown in fig. 2, the correcting mechanism 2 comprises a left conveying flat belt 21 and a right conveying flat belt 22, wherein the right conveying flat belt 22 has the same structure as the left conveying flat belt 21 and is arranged in a v-shaped mirror image;
The left conveying flat belt 21 comprises a group of aluminum profile correction base 203, one end of the correction base 203 is fixedly connected with a group of headstock 201, the other end of the correction base 203 is fixedly connected with a group of tailstock 202, correction driven shafts 212 are rotatably connected between the tailstocks 202, a correction driving shaft 211 is rotatably connected between the headstock 201, one end of the correction driving shaft 211 is provided with a correction synchronous belt driven wheel 208, the correction synchronous belt driven wheel 208 is connected with a correction synchronous belt driving wheel 209 of a correction gear motor 205 through a correction synchronous belt 210, the correction synchronous belt driving wheel 209 drives the correction synchronous belt driven wheel 208 to rotate, one section of the correction base 203 close to the headstock 201 is fixedly connected with a correction gear motor mounting plate 204, the correction gear motor 205 is mounted on the correction gear motor mounting plate 204, and the correction gear motor 205 is mounted on the non-bearing surface side of the left conveying belt 21.
Cylindrical cabbages stably fall onto the surfaces of the left conveying flat belt 21 and the right conveying flat belt 22 from the upper harvesting part 1 under the action of gravity, the axial direction of the cabbages is parallel to the movement directions of the left conveying flat belt 21 and the right conveying flat belt 22, preferably, the left conveying flat belt 21 takes a polar axis as a reference to be 135-150 degrees, and the right conveying flat belt 22 takes a polar axis as a reference to be 30-45 degrees, so that the cabbages can be quickly and stably adjusted to a proper posture, and meanwhile, the cabbages are not easy to be extruded by the left conveying flat belt 21 and the right conveying flat belt 22.
As shown in fig. 3, the conveying mechanism 5 includes a conveying base 501, two conveying bearing seat mounting plates 502, four conveying bearing seats 503, a conveying driving shaft 504, a conveying driven shaft 505, four chain wheels 506, a conveying motor mounting plate 507, a conveying reducing motor 508, a conveying slave synchronizing wheel 509, a conveying master synchronizing wheel 510, a conveying synchronizing belt 511 and two chains 512 with rubber block cover plates;
The transmission driving shaft 504 is arranged at one end of the transmission substrate 501, the transmission driven shaft 505 is arranged at the other end of the transmission substrate 501, two chain wheels 506 are respectively arranged on the transmission driving shaft 504 and the transmission driven shaft 505, the transmission driving shaft 504 and the transmission driven shaft 505 are respectively arranged on the upper surface of the transmission substrate 501 through transmission bearing seat mounting plates 502, one end of the transmission driving shaft 504 is provided with a transmission slave synchronizing wheel 509, the transmission slave synchronizing wheel 509 is connected with a transmission master synchronizing wheel 510 of a transmission gear motor 508 through a transmission synchronizing belt 511, the transmission master synchronizing wheel 510 drives rotation, one end of the transmission substrate 501 is fixedly connected with the transmission gear motor mounting plates 507, the transmission gear motor 508 is arranged on the transmission gear motor mounting plates 507, and two groups of chains 512 with rubber block cover plates are correspondingly wrapped on the two groups of four chain wheels 506 at two ends of the transmission substrate 501 one by one.
The two chain wheels 506 are installed between the two conveying bearing seats 503 at a certain interval with the conveying driving shaft 504, the two conveying bearing seats 503 are fixedly connected to the upper surface of a conveying bearing seat mounting plate 502 at the tail end of the conveying base body 501, the two chain wheels 506 and the conveying driven shaft 505 are installed between the two conveying bearing seats 503 at a certain interval, the two conveying bearing seats 503 are fixedly connected to the upper surface of a conveying bearing seat mounting plate 502 at the head end of the conveying base body 501, one end of the conveying driving shaft 504 is provided with a conveying slave synchronizing wheel 509, the conveying slave synchronizing wheel 509 drives the conveying slave synchronizing wheel 509 to drive the conveying slave synchronizing wheel 509 through a conveying synchronous belt 511 and a conveying main synchronizing wheel 510 of a conveying speed reducing motor 508, the head end of the conveying base body 501 is fixedly connected with a conveying speed reducing motor mounting plate 507, the conveying speed reducing motor 508 is installed on the conveying speed reducing motor mounting plate 507, two rubber block cover plate chains 512 are arranged in parallel and correspondingly wrapped on two groups of four chain wheels 506 at the head end and tail end of the conveying base body 501;
a plurality of chain supporting mechanisms 51 are arranged between the chains 512 and the conveying base body 501;
The chain supporting mechanism 51 comprises a chain supporting cushion block 513, a chain supporting shaft 514, a chain supporting bearing seat 515 and a chain supporting sprocket 516, wherein the chain supporting sprocket 516 is arranged at one end of the chain supporting shaft 514, the other end of the chain supporting shaft 514 penetrates through the chain supporting bearing seat 515, the chain supporting bearing seat 515 is fixedly connected with the chain supporting cushion block 513, and the chain supporting cushion block 513 is arranged on the surface of the conveying base 501;
the chain supporting mechanisms 51 are arranged on two sides of the two chains 512 with the rubber block cover plates, and the top half of the pitch circle of each chain supporting sprocket 516 is in the same horizontal plane with the top half of the pitch circle of the four sprockets 506 at the head end and the tail end of the conveying substrate 501.
As shown in fig. 4, the defoliation mechanism 4 comprises a left defoliation part 41 and a right defoliation part 42, wherein the right defoliation part 41 is consistent with the left defoliation part 42 in structure, and the left defoliation part 41 is arranged in mirror image with the right defoliation part 42;
The left defoliation part 41 comprises a range adjusting module 43 and a strength adjusting module 44;
The range adjusting module 43 comprises a range adjusting module base 417, two ends of the range adjusting module base 417 are respectively and fixedly connected with a module bearing bottom flat plate 415 and a module motor mounting flat plate 418, a module stepping motor 421 is fixedly connected with the module motor mounting flat plate 418, a screw bearing seat 416 is fixedly connected with the range adjusting module base 417, two ends of a screw rod 414 are respectively and rotatably arranged on the module bearing bottom flat plate 415 and the screw bearing seat 416, a screw rod guide rail 419 is arranged on the range adjusting module base 417, threads are arranged in the middle of the slide block 413 and are in threaded fit with the screw rod 414, and the shaft coupling 420 and the screw rod 414 are driven by the module stepping motor 421 to enable the slide block 413 to linearly move along the screw rod guide rail 419;
The force adjusting module 44 comprises a force adjusting base 401, wherein a module mounting plate 402 is arranged at the lower end of the force adjusting base 401, the lower part of the module mounting plate 402 is fixedly connected with a sliding block 413 of the range adjusting module 43, the sliding block 413 drives the module mounting plate 402 to do linear motion, an L-shaped motor mounting plate 408 is arranged at the upper end of one surface of the force adjusting base 401, the L-shaped motor mounting plate 408 is fixedly connected with a speed reducing motor 407, two L-shaped bearing seats 403 which are mirror images are respectively arranged at two sides of the other surface of the force adjusting base 401, bearing seats 412 are respectively arranged at the notch positions of the two L-shaped bearing seats 403, a rotating brush 406 is sleeved on a rotating brush shaft 404, locking pieces 405 are abutted to two sides of the rotating brush 406, two ends of the rotating brush shaft 404 are respectively connected with the bearing seats 412 in a rotating mode, and one end of the rotating brush shaft 404 is provided with a driven synchronous wheel 411 and is connected with a driving synchronous wheel 409 of the speed reducing motor 407 through a synchronous belt 410.
The rotating brush 406 of the left defoliation part 41 forms an angle of 30 to 50 degrees with the rotating brush of the right defoliation part 42, which is beneficial to removing the top leaves.
As shown in fig. 5, the transfer mechanism 6 includes an ejection portion 61, a transition portion 62, and a guide portion 63;
The ejection part 61 comprises an ejection bottom plate 601 which is fixedly connected with the conveying substrate 501, ejection support plates 602 are arranged on two sides of the ejection bottom plate 601, ejection plates 604 are arranged on an ejection fixing shaft 605, two ends of the ejection fixing shaft 605 are respectively connected with the ejection support plates 602 in a rotating way, the bottom of an ejection electric cylinder 603 is connected with the ejection bottom plate 601 in a rotating way, and the top of the ejection electric cylinder 603 is connected with one side of the ejection plates 604 in a rotating way;
the transition part 62 comprises a transition guide matrix 606, two transition mounting plates 607 are arranged on two sides of the top of the transition guide matrix 606, two transition bearing seats 612 are respectively arranged on the two transition mounting plates 607, two ends of a transition shaft 610 are respectively connected with the transition bearing seats 612 in a rotating way, a plurality of turnover plates 611 are sleeved between the two transition bearing seats 612 of the transition shaft 610, the turnover plates 611 are positioned on the other side of the ejector plate 604, one end of the transition shaft 610 is connected with an output shaft of a speed reducing motor 609 through a coupling 613, the transition motor mounting plate 608 is arranged on the side surface of the transition guide matrix 606, and the speed reducing motor 609 is fixedly connected with the transition motor mounting plate 608;
the guiding part 63 comprises a guiding bottom plate 614, wherein the guiding bottom plate 614 is arranged on a transitional guiding base 606, two guiding supporting plates 615 are respectively arranged on two sides of a guiding installation bottom plate 614, a guiding plate 619 is arranged on a guiding fixed shaft 618, two ends of the guiding fixed shaft 618 are respectively and rotatably connected with the guiding supporting plates 615, the bottom of a guiding electric cylinder 616 is rotatably connected with the guiding bottom plate 614, the top of the guiding electric cylinder 616 is hinged with one side of the guiding plate 619 through a guiding movable shaft 617;
The ejector plate 604 is used for ejecting the cabbages and sending the cabbages into the turnover plate 611, the turnover plate 611 is used for conveying the cabbages to the guide plate 619, and the guide plate 619 is used for conveying the cabbages to the turnover box 7.
The lower stage of the guiding part 63 is provided with a turnover box 7, the guiding part 63 is provided with a plurality of action positions corresponding to the front end, the middle plurality of positions and the tail end of the turnover box 7 respectively, the surface of the guiding plate 619 is a plane for passing through cabbages, a baffle 620 is arranged above the tail end of the guiding plate 619, and the last guiding is performed before the cabbages fall into the box.
The image acquisition system comprises a camera and a vision processing module, wherein the camera acquires the image data of the celery cabbage, and the vision processing module recognizes the position of the outer leaf in the image to be removed and transmits the position to the controller.
A control method of the single-line multipath celery cabbage leaf removing and boxing device comprises the following steps:
The method comprises the steps that Chinese cabbage falls into a correcting mechanism 2 from a superior harvesting part 1 to be subjected to gesture correction, a first image collecting system 3 collects Chinese cabbage images subjected to gesture correction of the correcting mechanism 2, leaves outside the Chinese cabbage are identified and transmitted to a controller, the controller generates a leaf removing range, the Chinese cabbage falls into a conveying mechanism 5 from the correcting mechanism 2, the controller controls a first leaf removing mechanism 4 to perform first leaf removing operation according to the leaf removing range, a second image collecting system 8 collects the Chinese cabbage images subjected to the first leaf removing operation and transmits the images to the controller, the controller judges whether the first leaf removing operation is required, the controller controls a first transferring mechanism 6 to transfer the Chinese cabbage to a turnover box 7 if the first leaf removing operation is not required, the controller controls the second leaf removing mechanism 9 to perform the second leaf removing operation along with the conveying mechanism 5 if the second leaf removing operation is required, and controls a second transferring mechanism 10 to transfer the Chinese cabbage subjected to the second leaf removing operation to the turnover box 7.
In one specific embodiment of the invention, the control method for defoliating and boxing the single-line multipath cabbages comprises the following steps:
(1) The Chinese cabbage falls into a correcting mechanism 2 from the upper harvesting part 1 to correct the posture;
(2) The first image acquisition system 3 acquires the cabbage images after the posture correction of the correction mechanism 2, the visual processing module identifies the outer leaves of the cabbage and transmits the outer leaves to the controller, and the controller generates a leaf removing range;
(3) The Chinese cabbage falls into a conveying mechanism 5 from the correcting mechanism 2;
(4) The first defoliation mechanism 4 performs defoliation operation, wherein the controller controls a range adjusting module 43 and a force adjusting module 44 of the left defoliation part 41 according to the defoliation range, and simultaneously adjusts the right defoliation part 42 to perform first defoliation operation;
(5) The second image acquisition system 8 acquires the cabbage image subjected to the primary defoliation and transmits the cabbage image to the controller, and the controller judges whether the primary defoliation is needed or not;
(6) If the leaves do not need to be removed again, the step (8) is carried out;
(7) If the leaf removing operation is needed again, the celery cabbage advances to the second leaf removing mechanism 9 along with the conveying mechanism 5 to carry out the leaf removing operation, and the controller controls the second leaf removing mechanism 9 to carry out the leaf removing operation again and then enters the step (6);
(8) The Chinese cabbage passes through the ejection part 61 and the transition part 62 to the guide part 63, and the guide plate 619 is adjusted to different action positions to guide the Chinese cabbage to fall into the corresponding position in the turnover box 7.
Preferably, in a specific embodiment of the present invention, three cabbages with the sequence A, B, C sequentially enter the conveying mechanism 5, when a cabbage B is in the first transferring mechanism 6, if the next cabbage C without removing leaves again needs to enter the first transferring mechanism 6, congestion is easy to be caused, at this time, because the cabbages a are completely loaded in the second transferring mechanism 10, the second transferring mechanism 10 is at the initial position and is relatively idle, the controller can control the conveying mechanism 5 to enter the cabbages C into the second transferring mechanism 10 for loading, when the basket of the second transferring mechanism 10 temporarily strengthens the degree of the first leaf removing mechanism 4 and accelerates the speed of the first transferring mechanism 6 in the loading and unloading process, so as to ensure that the cabbages smoothly complete loading in the first transferring mechanism 6, and similarly, when the basket of the first transferring mechanism 6 temporarily accelerates the speed of the second transferring mechanism 10 in the loading and unloading process, so as to ensure that the cabbages smoothly complete loading in the second transferring mechanism 10, thereby improving efficiency. The correcting mechanism 2 is used for adjusting the posture of cabbages, the correcting mechanism 2 is provided with a left conveying flat belt 21 and a right conveying flat belt 22 which are arranged in a v shape at a certain angle, a conveying mechanism 5 is arranged below the correcting mechanism 2 and in the length extending direction, an image acquisition system, a defoliation mechanism and a transfer mechanism are arranged above the conveying mechanism 5, the defoliation mechanism is controlled by a controller to adjust defoliation quantity according to information obtained by the image acquisition system, the transfer mechanism sequentially transfers cabbages from the conveying mechanism 5 into a turnover box 7, and a plurality of groups of image acquisition systems, defoliation mechanisms and transfer mechanisms are arranged on the double-row conveying belt. According to the invention, the input cabbages are adjusted to axially enter the single line of the conveying mechanism 5 through the correcting mechanism 2, the number of the image acquisition system, the defoliation mechanism, the transfer mechanism and the turnover box 7 can be increased as required, a plurality of defoliation boxes are formed, defoliation of the defoliation mechanism is carried out, and then the cabbages are transferred into the turnover box 7 through the transfer mechanism, so that defoliation and ordered box packing operations of the cabbages can be efficiently realized. It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2024117140065 | 2024-11-27 | ||
| CN202411714006 | 2024-11-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119568493A true CN119568493A (en) | 2025-03-07 |
Family
ID=94804050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411797725.8A Pending CN119568493A (en) | 2024-11-27 | 2024-12-09 | Single-line multipath celery cabbage leaf removing and boxing device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119568493A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130046274A (en) * | 2011-10-27 | 2013-05-07 | 박정열 | Korea cabbage cutting device |
| CN103314714A (en) * | 2013-06-21 | 2013-09-25 | 浙江大学 | Harvester for vegetables like kales and method thereof |
| CN203407227U (en) * | 2013-06-21 | 2014-01-29 | 浙江大学 | Leaf-removing device for heading vegetable harvester |
| US20140200058A1 (en) * | 2013-01-15 | 2014-07-17 | Dole Fresh Vegetables, Inc. | Leaf removal apparatus |
| CN209283750U (en) * | 2018-12-30 | 2019-08-23 | 天津农学院 | Self-propelled cabbage harvester |
| CN111480861A (en) * | 2020-05-27 | 2020-08-04 | 浙江省农业科学院 | A kind of automatic peeling equipment and peeling method for dried sweet potato processing based on machine vision |
| CN115997554A (en) * | 2023-02-09 | 2023-04-25 | 江苏大学 | Broccoli combine harvester and control method thereof |
| CN116267173A (en) * | 2023-04-13 | 2023-06-23 | 潍坊学院 | Chinese cabbage harvester |
-
2024
- 2024-12-09 CN CN202411797725.8A patent/CN119568493A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130046274A (en) * | 2011-10-27 | 2013-05-07 | 박정열 | Korea cabbage cutting device |
| US20140200058A1 (en) * | 2013-01-15 | 2014-07-17 | Dole Fresh Vegetables, Inc. | Leaf removal apparatus |
| CN103314714A (en) * | 2013-06-21 | 2013-09-25 | 浙江大学 | Harvester for vegetables like kales and method thereof |
| CN203407227U (en) * | 2013-06-21 | 2014-01-29 | 浙江大学 | Leaf-removing device for heading vegetable harvester |
| CN209283750U (en) * | 2018-12-30 | 2019-08-23 | 天津农学院 | Self-propelled cabbage harvester |
| CN111480861A (en) * | 2020-05-27 | 2020-08-04 | 浙江省农业科学院 | A kind of automatic peeling equipment and peeling method for dried sweet potato processing based on machine vision |
| CN115997554A (en) * | 2023-02-09 | 2023-04-25 | 江苏大学 | Broccoli combine harvester and control method thereof |
| CN116267173A (en) * | 2023-04-13 | 2023-06-23 | 潍坊学院 | Chinese cabbage harvester |
Non-Patent Citations (2)
| Title |
|---|
| 陈守江, 王海鸥: "鲜切茭白短期贮藏过程中的电导率变化", 安徽技术师范学院学报, no. 03, 30 June 2004 (2004-06-30) * |
| 马克洲;王海艳;王娜;张志栋;: "新型白菜收获机结构设计", 南方农机, no. 11, 15 June 2020 (2020-06-15) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2001617B1 (en) | Method and apparatus for container recirculation | |
| CN216858793U (en) | Automatic assembling equipment for automobile rearview mirror actuator assembly | |
| EP3626677A1 (en) | Capping and cap sorting device and method | |
| EP4377209A2 (en) | A packaging device and sorting system for directional packaging of products, such as vegetables and fruit, and a method therefor | |
| US9499352B2 (en) | Device for forming product batches in order to load same in receptacles | |
| HK128197A (en) | Method and apparatus for conveying trays | |
| CN119568493A (en) | Single-line multipath celery cabbage leaf removing and boxing device and control method thereof | |
| CN113460648A (en) | System for transferring chip from tray to carrier | |
| US20200348643A1 (en) | Method and apparatus for boxing ice cream type products | |
| SE461389B (en) | PROCEDURE AND DEVICE FOR THE TRANSFER OF GOODS | |
| CN114249073B (en) | Automatic rotating machine for watch back case | |
| CN119262817A (en) | Transfer unit for random junction box | |
| CN213678710U (en) | Partition control conveying device and article separation system | |
| US20100028107A1 (en) | Apparatus and method for successively transporting a plurality of gsm chip cards | |
| CN218859436U (en) | Basket of flowers material machine of receiving | |
| CN210848848U (en) | Material conveying system and laser processing equipment | |
| JP2009234672A (en) | Transport device | |
| CN115910890A (en) | Regular device, regular equipment and haulage equipment of half silicon chip | |
| CN217457829U (en) | Material transfer device and automatic feeding and discharging system with same | |
| CN110202168A (en) | A kind of numerically controlled lathe automatic junction device | |
| WO2019159179A1 (en) | Conveyors interfacing system and method | |
| CN111300042A (en) | Device and method for assembling utility knife and knife engine | |
| KR20220060585A (en) | Egg Tray High Speed Transfer Device | |
| CN218319286U (en) | Blanking device and sealing machine | |
| CN222063465U (en) | Grain unloading, conveying and storage system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |