Grape picking and collecting management device

Abstract

The invention provides a grape picking, collecting and managing device, relates to the field of grape management equipment, and aims to solve the problems that grapes are easily affected by harvesting equipment and damaged during harvesting at present, so that the grapes are inconvenient to store and the quality is reduced. A picking claw mechanism can be installed at the tail end of the picking mechanical arm, a shear mechanism and a temporary storage shell arranged on the picking claw mechanism can work cooperatively, fruit stems are sheared after grapes are supported, manual shearing operation is simulated to reduce damage to the grapes, meanwhile, the temporary storage shell can move to the position of the lifting platform, and the temporary storage shell can move to the lifting platform. The grapes are transferred into the storage box of the lifting platform after being opened from the bottom, the problem that the grapes are damaged due to transfer is solved, and the harvesting efficiency and quality are guaranteed.

Description

Technical Field

[0001] The invention relates to the field of grape management equipment, and in particular to a grape picking, collecting and managing device. Background Art

[0002] Grape picking is an important link in agricultural production, and the requirements for grape quality are gradually increasing. The quality of grape output can be improved by improving varieties and increasing maintenance. However, during the picking and transportation process, grapes can be easily damaged due to improper operation or equipment defects, affecting the quality of grapes. Although the traditional manual picking method can ensure the quality of grapes, it is relatively inefficient, and the harvesting, packing, sorting, and packaging of grapes need to be completed quickly to maintain the freshness of the grapes.

[0003] A Chinese patent (publication number CN106385975A) discloses a mechanical arm suitable for orchard picking, which adopts a telescopic mechanical arm, and a cutting blade and a receiving basket are installed on the top of the mechanical arm. The cutting blade cuts the fruit from the root, and the fruit falls into the receiving basket and enters the storage box, realizing the automation of orchard picking. It is suitable for fruits with hard texture, nearly spherical shape, and easy to roll, such as apples and pears, but the whole bunch of grapes is irregular and not easy to roll, and it is difficult to pass through its receiving basket into the conveying pipeline for transportation. In addition, due to the soft texture of grapes, they are easily damaged due to collision and friction during the sliding process along the conveying pipeline. The damaged grapes are easy to decay quickly, which is not conducive to ensuring the quality of grapes. In addition, grapes are easy to fall off from the fruit stalks when they are subjected to external friction during transportation, which will also affect the quality of grapes, making it difficult to improve the efficiency of grape harvesting. Summary of the invention

[0004] The purpose of the present invention is to provide a grape picking, collecting and managing device in view of the defects of the prior art. A picking mechanical arm is arranged to be installed on a lifting platform and move following a bottom plate mechanism. A picking claw mechanism can be installed at the end of the picking mechanical arm. The scissors mechanism and a temporary storage shell provided by the picking claw mechanism can work together to shear the fruit stalk after supporting the grapes, simulating manual shearing operations to reduce damage to the grapes. At the same time, the temporary storage shell can be moved to the lifting platform position, opened from the bottom to transfer the grapes to a storage box on the lifting platform, thereby reducing the problem of grape damage caused by transportation and ensuring the harvesting efficiency and quality.

[0005] In order to solve the above problems, the following solutions are adopted:

[0006] A grape picking, collecting and managing device, comprising:

[0007] The chassis mechanism is equipped with a lifting platform mechanism, a lifting platform is provided on the top of the lifting platform mechanism, and a storage box is slidably installed on the bottom surface of the lifting platform;

[0008] The picking mechanical arm mechanism is installed on the lifting platform, and a docking part is provided at the end of the picking mechanical arm;

[0009] The picking claw mechanism comprises a scissor mechanism and a temporary storage shell arranged at intervals, the top of the temporary storage shell is open and faces the scissor mechanism, and the bottom is provided with an opening and closing plate to block the opening; the picking claw mechanism is detachably connected to the docking part;

[0010] The sprinkler mechanism is installed on the chassis mechanism and comprises a water sprinkler head facing the outside of the chassis mechanism and a reagent sprinkler head facing the storage box.

[0011] Furthermore, the scissor mechanism comprises a pair of cutting blades which open and close relative to each other. When the scissor mechanism is opened, a passage is formed between the cutting blades for the grapes to pass through and fall into the temporary storage shell.

[0012] Furthermore, the cutting blade comprises a cutting portion and a toothed portion, the cutting portions corresponding to a pair of cutting blades form a cutting area, and the toothed portions corresponding to a pair of cutting blades form a cutting area.

[0013] Furthermore, the chassis mechanism includes at least two sets of track mechanisms, one set of which is a triangular track.

[0014] Furthermore, the chassis mechanism is connected to a loosening mechanism, and the output end of the loosening mechanism is a rotary plow.

[0015] Furthermore, the sprinkler mechanism also includes a crank rocker mechanism and a container. The frame of the crank rocker mechanism is arranged on the chassis mechanism. The sprinkler nozzle and the reagent nozzle are respectively installed on the rocker of the crank rocker mechanism and are located on opposite sides of the rocker. The sprinkler nozzle and the reagent nozzle are respectively connected to the corresponding container through pipelines.

[0016] Furthermore, sprinkler mechanisms are provided on both sides of the chassis mechanism, and the lifting platform mechanism is located between the sprinkler mechanisms on both sides. When the spray tank mechanism and the lifting platform mechanism are controlled, the spraying range of the reagent nozzle can cover the storage box.

[0017] Furthermore, the storage box is connected to a pulling mechanism, which drives the storage box to move relative to the lifting platform, so that the storage box is partially extended out of the lifting platform to open the storage box, or the storage box is retracted into the lifting platform to close the storage box.

[0018] Furthermore, there are a plurality of storage boxes, each of which is installed on a lifting platform.

[0019] Furthermore, it also includes a shearing mechanical claw, which includes cutting blades arranged in pairs, and the shearing mechanical claw is detachably connected to the docking part.

[0020] Compared with the prior art, the present invention has the following advantages and positive effects:

[0021] (1) In view of the problem that grapes are easily damaged by harvesting equipment during harvesting, which makes them inconvenient to store and reduces their quality, a picking robot arm is installed on a lifting platform and moves with the bottom plate mechanism. A picking claw mechanism can be installed at the end of the picking robot arm. The scissor mechanism and the temporary storage shell provided by the picking claw mechanism can work together to shear the fruit stalk after supporting the grapes, simulating manual shearing operations to reduce damage to the grapes. At the same time, the temporary storage shell can be moved to the lifting platform position and opened from the bottom to transfer the grapes to the storage box on the lifting platform, thereby reducing the damage of the grapes caused by transportation and ensuring the harvesting efficiency and quality.

[0022] (2) The grapes are temporarily stored in a temporary storage shell after harvesting to prevent them from falling directly into the storage box after harvesting. The grapes are then transferred to the storage box for storage and unloaded using a drop-type structure. Compared with the traditional method of using a conveying pipe for falling and rolling unloading, this method can reduce the damage caused by collision and friction between the grapes and the outer wall of the equipment, reduce the risk of grapes falling off the fruit stalks, and ensure the quality after harvesting.

[0023] (3) The sprinkler mechanism can spray water mist from both sides of the chassis mechanism to complete the sprinkler irrigation process. At the same time, the sprinkler irrigation mechanism can adjust the position of the sprinkler head at the end of the rocker by using the crank rocker mechanism to change the sprinkler irrigation coverage range and meet various sprinkler irrigation needs.

[0024] (4) The sprinkler mechanism is also provided with a reagent nozzle, which can follow the rocker to move to a position toward the storage box when the lifting platform falls, and spray the reagent onto the grapes stored in the storage box to prevent the damaged grapes from further decaying and extend the shelf life of the grapes.

[0025] (5) The cutting blade of the picking claw is also provided with a tooth structure to expand the cutting range, making it easier to cut off the branches and vines around the grapes and reduce the impact of the branches and vines on the grape harvest. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 This is a schematic diagram of a grape picking, collecting and managing device in Example 1 of the present invention.

[0028] Figure 2 This is a schematic diagram of the chassis mechanism in Example 1 of the present invention.

[0029] Figure 3 Schematic diagram of the triangular crawler in Example 1 of the present invention.

[0030] Figure 4This is a schematic diagram of the triangular crawler connected chassis mechanism in Example 1 of the present invention.

[0031] Figure 5 This is a schematic diagram of the picking robot arm mechanism in Example 1 of the present invention.

[0032] Figure 6 This is a schematic diagram of the picking claw mechanism in Example 1 of the present invention.

[0033] Figure 7 This is a schematic diagram of the lifting platform mechanism in Example 1 of the present invention.

[0034] Figure 8 It is a structural schematic diagram of the sprinkler irrigation mechanism in Example 1 of the present invention.

[0035] Fig. 9 This is a schematic diagram of the soil loosening mechanism in Example 1 of the present invention.

[0036] Fig.10 Schematic diagram of the docking portion in Example 1 of the present invention.

[0037] Fig.11 This is a schematic diagram of the storage box in Example 1 of the present invention.

[0038] Fig.12 Schematic diagram of the shearing mechanical claw in Example 1 of the present invention.

[0039] Fig.13 It is a side view schematic diagram of the grape picking, collecting and managing device in Example 1 of the present invention.

[0040] In the figure, 1 triangular crawler, 2 the first driven wheel, 3 crawler, 4 the first fixing screw, 5 the first heavy wheel, 6 the second heavy wheel, 7 the fixed outer plate, 8 the frame, 9 the driving wheel, 10 the synchronous belt, 11 the second driven wheel, 12 the third driven wheel, 13 the motor mounting plate, 14 the motor fixing screw, 15 the second fixing screw, 16 the driving motor, 17 the motor fixing part, 18 the third fixing screw, 19 the mechanical arm platform, 20 the lead screw, 21 the coupling, 22 the slider, 23 the second joint, 24 the second joint side plate, 25 the third joint, 26 the third joint side plate, 27 the connecting plate, 28 the scissor steering gear mounting frame , 29 scissor steering gear, 30 temporary storage housing, 31 first picking tool, 32 first cutting blade, 33 opening and closing plate, 34 temporary storage device bottom plate, 35 second cutting blade, 36 opening and closing plate, 37 second picking tool, 38 first connecting rod, 39 motor frame, 40 first coupling, 41 first bevel gear, 42 second bevel gear, 43 driving shaft, 44 third bevel gear, 45 fourth bevel gear, 46 first motor, 47 platform fixing plate, 48 first motor frame, 49 loosening shaft, 50 second motor, 51 motor fixing part, 52 fifth bevel gear, 53 sixth bevel gear, 54 plow, 55 first Screw nut, 56 mechanical main arm, 57 mechanical auxiliary arm, 58 clamping claw fixing plate, 59 clamping claw quick release plate, 60 first joint, 61 air pump, 62 air pump fixing part, 63 driving crank motor, 64 first connecting rod, 65 second connecting rod, 66 fixing plate, 67 third connecting rod, 68 water tank, 69 nozzle fixing part, 70 nozzle, 71 mounting hole, 73 mounting plate on lifting platform, 74 first bearing, 75 first adapter, 76 third connecting rod, 77 second bearing, 78 fourth connecting rod, 79 driving platform second motor, 80 driving platform motor frame, 81 lifting platform lower mounting plate, 82 driving platform The third motor, 83 the first cylinder, 84 the cylinder mounting plate, 85 the storage box bottom plate, 86 the storage box back plate, 87 the storage box fixing piece, 88 the storage box shell, 89 the second connecting rod, 90 the opening and closing plate servo mounting frame, 91 the opening and closing plate servo bottom plate, 92 the scissors connecting rod, 93 the cutting head, 94 the cutting blade, 95 the connecting block, 96 the connecting block, 97 the connecting rod, 98 the scissors bottom plate, 99 the second cylinder, 100 the first screw, 101 the second screw nut, 102 the first motor of the driving platform, 103 the scissors mounting plate, 104 the scissors fixing piece, 105 the second screw, 106 the second motor frame. DETAILED DESCRIPTION

[0041] Example 1

[0042] In a typical embodiment of the present invention, Figure 1-Figure 13 As shown, a grape picking, collecting and managing device is provided.

[0043] Traditional picking methods or some simple mechanized picking equipment often cause certain damage to grapes, such as pinching and scratching, due to improper operation or technical limitations, which affects the appearance and quality of the grapes. In the process of transporting the picked grapes to the storage or packaging equipment, they are prone to damage due to vibration, collision and other reasons, resulting in waste of grapes and reduced quality. Based on this, the present embodiment provides a grape picking, collection and management device, which reduces the damage to grapes during the picking process by simulating manual shearing operations, and reduces the damage to grapes during transportation by docking the temporary storage shell 30 with the lifting platform storage box; at the same time, the device also has good adaptability and flexibility, and can adapt to the picking needs of different terrains and grapevine heights. Together, the technical problems of efficiency, quality and transportation damage in the grape picking process are solved.

[0044] like Figure 1 As shown, the grape picking, collecting and managing device mainly includes a chassis mechanism, a lifting platform mechanism, a picking mechanical arm mechanism, a picking claw mechanism, a sprinkler mechanism and a cutting claw mechanism. The chassis mechanism serves as the support and mobile basis of the entire device, and the chassis mechanism carries the lifting platform mechanism, the picking mechanical arm mechanism and the sprinkler mechanism. The chassis mechanism includes at least two sets of crawler mechanisms, one of which is a triangular crawler 1 fixed by a fixed outer plate 7, so as to flexibly move on different terrains and meet the picking needs of different vineyards.

[0045] A lifting platform is provided at the top of the lifting platform mechanism, a storage box is slidably installed on the bottom of the lifting platform, a picking robot arm mechanism is installed on the lifting platform, a docking part is provided at the end of the picking robot arm, and the lifting platform mechanism adjusts the height of the picking robot arm through lifting movements to adapt to grape vines of different heights.

[0046] like Figure 5 and Fig.11 As shown, the bottom of the lifting platform is designed with a sliding mechanism, so that the storage box can be adjusted to the position of the lifting platform by sliding, and the storage box can be opened or closed by sliding. When opened, it can receive the picked grapes, and when closed, it can seal the grapes to reduce external interference. The lifting platform mechanism has sufficient strength and stability, and will not shake during the lifting process, ensuring the picking accuracy.

[0047] like Figure 5 As shown, the picking mechanical arm mechanism can simulate arm movements and control the picking claw mechanism to reach a designated position for picking. The picking mechanical arm mechanism is installed on a lifting platform, and a clamping claw quick-release plate 59 is provided at the end of the picking mechanical arm mechanism for quick connection and separation with the picking claw mechanism for easy replacement or maintenance.

[0048] like Figure 6As shown, the picking claw mechanism can support, cut and temporarily store grapes. The picking claw mechanism includes a scissor mechanism and a temporary storage shell arranged at intervals. A pair of symmetrically distributed blades are fixed to the top of the temporary storage mechanism through a connecting piece. The top of the temporary storage shell is open and faces the scissor mechanism. The scissor mechanism is responsible for cutting the grape stalks, and the temporary storage shell is used to collect the cut grapes to reduce falling damage.

[0049] An opening and closing plate 33 is provided at the bottom of the temporary storage shell. The opening and closing plate is driven by a servo placed on the opening and closing plate servo bottom plate 91 to drive the second connecting rod 89 to complete the opening and closing function. When the picking claw mechanism moves to the lifting platform position, the opening and closing plate opens and the grapes fall into the storage box to achieve lossless transportation.

[0050] The picking claw mechanism is detachably connected to the picking mechanical arm mechanism through the scissor mounting plate 103, so that different types of picking claw mechanisms can be replaced according to picking needs. At the same time, the picking claw mechanism can also be replaced with other functional components, such as shearing mechanical claws, etc.

[0051] like Figure 8 As shown, the sprinkler mechanism can provide necessary water for the grapevine and spray the fresh-keeping agent on the grapes in the storage box, thereby improving the quality of the grapes and extending the shelf life. Specifically, the sprinkler mechanism is installed on the chassis mechanism, and the sprinkler mechanism includes a water sprinkler head 70 facing the outside of the chassis mechanism and a reagent spray head 70 facing the storage box. The water sprinkler head faces the outside of the chassis mechanism and is used to irrigate the grapevine. The reagent spray head faces the storage box and can spray the fresh-keeping agent after the grapes are collected to keep the grapes fresh.

[0052] The temporary storage housing 30 is seamlessly connected to the storage box of the lifting platform to simulate manual shearing operations, which reduces the damage to grapes during the picking process. The mobility of the chassis mechanism and the adjustability of the lifting platform mechanism enable the device to adapt to the picking needs of different terrains and grapevine heights, thereby improving the utilization rate and economic benefits of the equipment. The sprinkler mechanism also improves the quality and shelf life of the grapes.

[0053] like Figure 2 , Figure 3 As shown, the chassis mechanism is driven by a driving motor 16 fixed by a motor fixing member 17 to drive the driving wheel 9 to rotate, thereby driving the synchronous belt 10 to realize the rotation of the first driven wheel 2, the second driven wheel 11 and the third driven wheel 12, as shown in FIG. Figure 4As shown, the frame 8 is provided with a motor mounting plate 13, which is mounted on the chassis mechanism body through a second fixing screw 15, and the driving motor is mounted on the motor mounting plate 13 through a motor fixing member 51 in cooperation with a third fixing screw 18 and a motor fixing screw 14, and the crawler 3 is mounted on the chassis mechanism body through a first fixing screw 4, and the crawler 3 can provide a larger contact area and reduce the pressure on the ground. The combination of the triangular crawler 1 and the crawler 3 can improve the adaptability and maneuverability of the vehicle body, thereby reducing the damage to the grapevine and the soil. The first heavy wheel 5 and the second heavy wheel 6 have a strong load-bearing capacity and can support the weight of the vehicle body, enhancing the stability of the crawler mechanism so that the robot can adapt to the complex terrain of grape planting and enhance the stability of the vehicle body.

[0054] like Figure 7 As shown, the lifting platform mechanism is driven by three motors: the first motor 102 of the driving platform, the second motor 79 of the driving platform, and the third motor 82 of the driving platform. The second motor 79 of the driving platform is fixed to the mounting plate 81 under the lifting platform through the driving platform motor frame 80. The three motors rotate to adapt to different height requirements. The structure is simple and can realize the lifting and lowering of the control arm. The output ends of the three motors of the driving platform first motor 102, the driving platform second motor 79, and the driving platform third motor 82 are respectively connected to the fourth connecting rod 78, which is connected to the third connecting rod 76 by the second bearing 77. One end of the third connecting rod 76 is installed on the mounting plate 73 of the lifting platform through the first adapter 75 and the first bearing 74. The third connecting rod 76 and the fourth connecting rod 78 establish support between the motor and the mounting plate 73 on the lifting platform. The first bearing 74 and the second bearing 77 convert the rotational motion of the motor into lifting motion and front and back left and right movement. The drive system can provide stable power output, ensure the flexibility and accuracy of the mechanical arm during the picking process, and is essential for adapting to grape bunches distributed at different heights in the vineyard.

[0055] like Figure 5As shown, a storage mechanism is provided at the bottom of the lifting platform, and the storage mechanism includes a storage box and a pulling mechanism connected thereto, and the pulling mechanism drives the storage box to move relative to the lifting platform, so that the storage box partially protrudes out of the lifting platform to open the storage box, or the storage box is retracted into the lifting platform to block the storage box, which is used to temporarily store the picked grapes. A storage box shell 86 is installed at the bottom of the lifting platform, and the storage box shell 86 is in a concave shape. After the storage box shell 86 is installed on the bottom surface of the lifting platform, a slideway for accommodating the storage box is formed. The storage box is slidably installed in the slideway formed by the storage box shell 86, and the rear side of the storage box is a storage box rear plate 86 for connecting the pulling mechanism. The pulling mechanism can adopt a first cylinder 83, and the first cylinder 83 is fixed on the storage box rear plate 86 through a cylinder mounting plate 84. The storage mechanism can pop out the storage box rear plate 86 through the first cylinder 83, and move forward and backward along the storage box shell 88. It may also have a certain capacity and protective measures to ensure the safety and freshness of the grapes while waiting for packaging. The translation function enables the storage mechanism to improve operating efficiency and facilitate subsequent packing. At the same time, it can provide shade for the collected mechanisms to ensure the freshness of the grapes.

[0056] In other optional embodiments, there are multiple storage boxes, each of which is installed on the lifting platform.

[0057] like Figure 5 As shown, the picking robot arm mechanism provides a high degree of flexibility and precision, allowing the robot to perform a variety of tasks in the vineyard. The multi-joint design of the first joint 60, the second joint 23 and the third joint 25 means that the robot arm has multiple rotation points, driving the robot main arm 56 and the robot auxiliary arm 57 to move, similar to the human arm, which allows it to approach any position of the grape bunch from different angles. In fact, the second joint 23 and the third joint 25 are fixed by the second joint side plate 24 and the third joint side plate 26 respectively. And translational motion can also be achieved through the screw rod 20, the coupling 21 and the slider 22, which is crucial for adapting to grapes of different heights and positions. Such a design ensures that the robot can cover most areas in the vineyard.

[0058] like Fig.10 As shown, the docking part can adopt a clamping claw quick release plate 59, and the picking claw mechanism and the shearing mechanical claw structure located at the top of the mechanical arm can be replaced through the quick release plate, which can adapt to the different stages of grape growth. The picking claw mechanism is used to pick mature grapes, and the shearing mechanical claw cutting blade is used to perform necessary pruning work in the early stage of grape fruiting to promote healthy grape growth. The quick release plate allows the picking claw mechanism and the shearing mechanical claw to be quickly replaced. Through the mounting hole 71 and the clamping claw fixing plate 58, the operator can easily switch different tool heads as needed to adapt to different task requirements.

[0059] like Figure 6 As shown, there is a scissor mechanism above the picking claw mechanism, the top of the temporary storage shell is open and faces the scissor mechanism, and an opening and closing plate is provided at the bottom to block its opening; the opening and closing plate is controlled by a first connecting rod 38, and the first connecting rod 38 is connected to the opening and closing plate servo through a second connecting rod 89, and the opening and closing plate servo is installed on the opening and closing plate servo mounting frame 90 through a servo bottom plate, and the opening and closing plate servo mounting frame 90 is installed on the quick release plate, and the scissor mechanism is connected to a scissor servo 29, and the scissor servo 29 drives the scissor mechanism to open and close, and the scissor servo 29 is fixed to the quick release plate through the scissor servo mounting frame 28.

[0060] The picking claw mechanism is detachably connected to the docking portion, and the scissor mechanism includes a pair of cutting blades 32 that open and close relative to each other. When the scissor mechanism is opened, a passage is formed between the cutting blades for the grapes to pass through and fall into the temporary storage housing. The first cutting blade 32 and the second cutting blade 35 are used to accurately cut the grape stems, and the opening and closing plate below is used to temporarily store the grapes after picking to prevent them from falling.

[0061] The cutting blade comprises a cutting portion and a toothed portion. The cutting portions corresponding to a pair of cutting blades form a cutting area for cutting off the grape stalks. The toothed portions corresponding to a pair of cutting blades form a cutting area for cutting off vines entering the range of the scissor mechanism.

[0062] The temporary storage device bottom plate 34 can better protect the integrity of the grapes than the traditional clamping mechanism, and can realize the temporary storage of the grapes after picking, thereby reducing the damage to the grapes during the picking process and ensuring the whole fruit rate of the grapes.

[0063] like Fig.12 As shown, the shearing mechanical claw includes: a scissor connecting rod 92, a cutting head 93, a cutting blade 94, a connecting block 95, a connecting block 96, a linkage rod 97, a scissor base plate 98, a second cylinder 99, a first screw 100, a scissor mounting plate 103, and a scissor fixing member 104. The cutting head 93 and the cutting blade 94 are connected and fixed on the scissor base plate 98 through the scissor connecting rod 92 and the scissor fixing member 104, and the linkage rod 97 is driven by the second cylinder 99 to drive the horizontal movement of the connecting block 95 and the connecting block 96 to complete the opening and closing function of the cutting head 93.

[0064] like Figure 8 , Fig.13As shown, the sprinkler mechanism adopts a crank rocker mechanism, and the sprinkler mechanism also includes a crank rocker mechanism and a container. The frame of the crank rocker mechanism is arranged on the chassis mechanism, and the sprinkler head and the reagent nozzle are respectively installed on the rocker of the crank rocker mechanism and are located on the opposite sides of the rocker. The sprinkler head and the reagent nozzle are respectively connected to the corresponding container through pipelines. The crank motor 63 drives the first connecting rod 64 to rotate, drives the second connecting rod 65, and then drives the third connecting rod 67 to swing. The connecting rod is fixed by a fixing plate 66. The nozzle 70 is installed on the rocker through a nozzle fixing member 69 to facilitate watering and irrigate the grapes. The crank rocker mechanism can achieve uniform irrigation over a large area. By adjusting the length of the crank and the swing amplitude of the rocker, the motion trajectory and water spraying range of the nozzle can be changed to meet the irrigation needs of different vineyards. The entire system can be adjusted in a timely and quantitative manner through an electrical control unit to reduce manual intervention. In addition, the crank rocker mechanism has a simple structure and fewer parts, so it is relatively easy to maintain and repair.

[0065] Sprinkler mechanisms are respectively arranged on both sides of the chassis mechanism, and the lifting platform mechanism is located between the sprinkler mechanisms on both sides. When the spray tank mechanism and the lifting platform mechanism are controlled, the spraying range of the reagent nozzle can cover the storage box.

[0066] It should be noted that in this embodiment, the sprayed reagent is a reagent that does not affect human safety, such as natamycin antibacterial liquid, which can effectively inhibit toxic bacteria and yeasts and is a natural and efficient biological preservative. Edible fruit preservatives can also be used, which are compounded from sugar, starch, fatty acids and polyester substances and can be sprayed, soaked or applied on the surface of grapes to form a film to prevent oxygen from entering, inhibit respiration, and extend the shelf life.

[0067] like Fig. 9 As shown, the loosening mechanism adopts a bevel gear lifting mechanism, the motor connected to the motor frame 39 drives the driving shaft 43 to rotate the first screw 100 and the second screw 105 to realize the lifting and lowering of the loosening mechanism, and the second motor 50 drives the sixth bevel gear 53 to rotate to realize the self-rotation of the plow 54. The structure is relatively simple, which means that the manufacturing cost is low, maintenance and repair are also relatively convenient, and the damage to the soil structure caused by excessive tillage can be avoided by accurately controlling the loosening depth, and the natural state and ecological balance of the soil can be maintained.

[0068] Working principle: Fig.13As shown, the chassis mechanism is driven by the driving motor 16 to drive the driving wheel 9 to rotate and drive the first driven wheel 2, the second driven wheel 11 and the third driven wheel 12 to rotate. The first driven wheel rotates and drives the triangular crawler 1 to move, thereby driving the crawler 3 to move. The first supporting roller 5 and the second supporting roller 6 bear the weight. The driving motor 16 is fixed by the motor mounting plate 13, the motor fixing screw 14, the second fixing screw 15, the motor fixing member 51, and the third fixing screw 18. The lifting platform mechanism is driven by the three motors of the driving platform first motor, the driving platform second motor and the driving platform motor fixed on the driving platform motor frame 80, so that the fourth connecting rod 78 rotates to drive the bearing to rotate and then the third connecting rod 76 rotates to control the lifting of the mounting plate 73 on the lifting platform through the first adapter 75. The storage mechanism on the top of the lifting platform ejects the storage box rear plate 86 fixed by the storage box fixing member 87 through the first cylinder 83 fixed by the cylinder mounting plate 84, and moves forward and backward along the storage box shell 88. The storage box bottom plate 85 makes it have a certain capacity and protection measures. The picking robot arm mechanism is fixed on the robot arm platform 19. The multi-joint design of the first joint 60, the second joint 23 and the third joint 25 enables the robot arm to have multiple rotation points, and realizes translational motion through screw rods, couplings and sliders. The mechanical auxiliary arm 57 drives the clamping claw fixing plate 58 to rotate; the clamping claw quick release plate 59 can replace the tool head through the mounting hole 71 and the clamping claw fixing plate 58. The connecting plate 27 on the picking claw mechanism is used to connect the robot arm, and the servo controls the first and second cutting blades 32 and 35 of the scissor mechanism on the first and second picking tools 31 and 37 to accurately cut the grape stems. The servo mounting frame and the servo floor below fix the servo and connect the connecting rod to control the opening and closing of the opening and closing plate and the opening and closing piece 36. The bottom plate of the temporary storage device fixes and protects the grapes. The sprinkler mechanism comprises an air pump 61 fixed by an air pump fixing part 62 to increase the pressure in the water tank 68, connect the water tank with the sprinkler head 70, drive the crank motor to drive the first connecting rod 64 to rotate, drive the second connecting rod 65 and then drive the third connecting rod 67 to swing, install the sprinkler head 70 on the rocker to sprinkle water, and fix it to the vehicle body by the sprinkler head fixing part 69.

[0069] The loosening mechanism adopts a bevel gear lifting mechanism. The first motor 46 connected to the motor frame 39 drives the second bevel gear 42 and the fourth bevel gear 45 on the driving shaft 43 to rotate through the coupling 40, and then drives the first bevel gear 41 and the third bevel gear 44 to rotate, and the second lead screw 105 and the first lead screw 100 rotate. The platform fixing plate 47 is lifted up and down by the second lead screw nut 101 and the first lead screw nut 55. The second motor 50 fixed by the motor fixing part 51 drives the fifth bevel gear 52 to rotate and the sixth bevel gear 53 to rotate, driving the loosening shaft 49 to rotate on the first motor frame 48 and the second motor frame 106 to realize the self-rotation of the plow 54.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grape picking, collecting and managing device, characterized in that: include: The chassis mechanism is equipped with a lifting platform mechanism, a lifting platform is provided on the top of the lifting platform mechanism, and a storage box is slidably installed on the bottom surface of the lifting platform; The picking mechanical arm mechanism is installed on the lifting platform, and a docking part is provided at the end of the picking mechanical arm; The picking claw mechanism comprises a scissor mechanism and a temporary storage shell arranged at intervals, the top of the temporary storage shell is open and faces the scissor mechanism, and the bottom is provided with an opening and closing plate to block the opening; the picking claw mechanism is detachably connected to the docking part; The sprinkler mechanism is installed on the chassis mechanism and comprises a water sprinkler head facing the outside of the chassis mechanism and a reagent sprinkler head facing the storage box.

2. The grape picking, collecting and managing device according to claim 1, characterized in that: The scissor mechanism comprises a pair of cutting blades which are relatively opened and closed. When the scissor mechanism is opened, a passage is formed between the cutting blades for the grapes to pass through and fall into the temporary storage shell.

3. The grape picking, collecting and managing device according to claim 2, characterized in that: The cutting blade comprises a cutting portion and a toothed portion. The cutting portions corresponding to a pair of cutting blades form a cutting area, and the toothed portions corresponding to a pair of cutting blades form a cutting area.

4. The grape picking, collecting and managing device according to claim 1, characterized in that: The chassis mechanism comprises at least two sets of track mechanisms, one set of which is a triangular track mechanism.

5. The grape picking, collecting and managing device according to claim 1 or 4, characterized in that: The chassis mechanism is connected with a loosening mechanism, and the output end of the loosening mechanism is a rotary plow.

6. The grape picking, collecting and managing device according to claim 1, characterized in that: The sprinkler mechanism also includes a crank rocker mechanism and a container. The frame of the crank rocker mechanism is arranged on the chassis mechanism. The sprinkler nozzle and the reagent nozzle are respectively installed on the rocker of the crank rocker mechanism and are located on the opposite sides of the rocker. The sprinkler nozzle and the reagent nozzle are respectively connected to the corresponding container through pipelines.

7. The grape picking, collecting and managing device according to claim 6, characterized in that: Sprinkler mechanisms are respectively arranged on both sides of the chassis mechanism, and the lifting platform mechanism is located between the sprinkler mechanisms on both sides. When the spray tank mechanism and the lifting platform mechanism are controlled, the spraying range of the reagent spray head can cover the storage box.

8. The grape picking, collecting and managing device according to claim 1, characterized in that: The storage box is connected to a pulling mechanism, which drives the storage box to move relative to the lifting platform, so that the storage box is partially extended out of the lifting platform to open the storage box, or the storage box is retracted into the lifting platform to close the storage box.

9. The grape picking, collecting and managing device according to claim 8, characterized in that: There are multiple storage boxes, which are respectively installed on the lifting platform.

10. The grape picking, collecting and managing device according to claim 1, characterized in that: It also includes a shearing mechanical claw, which includes cutting blades arranged in pairs, and the shearing mechanical claw is detachably connected to the docking part.

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