Fresh grape picking and collecting device

Abstract

The invention relates to a table grape picking and collecting device which comprises a crawler-type moving chassis serving as a carrying platform, a control system, a picking mechanism, a collecting mechanism and a lifting mechanism, the control system, the picking mechanism, the collecting mechanism and the lifting mechanism are carried on the crawler-type moving chassis, the control system is arranged at one end of the crawler-type moving chassis, and the picking mechanism is arranged on the upper portion of a shell of the control system. The picking mechanism is used for picking and placing fruits, the collecting mechanism is arranged on the inner side of the picking mechanism and drives a corresponding fruit container to enter the placing stroke of the picking mechanism, and the lifting mechanism is arranged on one side of the collecting mechanism and used for lifting the fruit container to the collecting mechanism. According to the device, fresh grape bunches can be automatically picked and collected in the orchard environment, the double picking mechanical arms are adopted, the picking mechanical arms are matched with the collecting device, automatic updating of a grape bunch collecting container after picking is achieved, long-time continuous picking is achieved, and the picking efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a device for picking and collecting fresh grapes. Background Art

[0002] Grape picking is a demanding and seasonal task, and traditional methods of harvesting fresh grapes rely heavily on manual labor. Current grape harvesting devices can harvest individual bunches of grapes, but they lack efficiency and sustainability. Therefore, to achieve efficient and continuous mechanized harvesting of fresh grapes, a new fresh grape harvesting and collection device was designed based on existing technologies and practical requirements. Summary of the Invention

[0003] The purpose of the present invention is to overcome the problems existing in the prior art and provide a fresh grape picking and collecting device that can efficiently pick and automatically collect ripe grape bunches through various mechanical structures in complex orchard environments.

[0004] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions: A fresh grape picking and collecting device includes a crawler-type mobile chassis as a carrying platform, and a control system, a picking mechanism, a collecting mechanism and a lifting mechanism mounted thereon. The control system is arranged at one end of the crawler-type mobile chassis, the picking mechanism is arranged on the upper part of the control system housing and is used for picking and placing the fruit, the collecting mechanism is arranged on the inner side of the picking mechanism and drives the corresponding fruit container into the placing stroke of the picking mechanism, and the lifting mechanism is arranged on one side of the collecting mechanism and is used for lifting the fruit container onto the collecting mechanism.

[0005] Furthermore, the picking mechanism consists of a pair of robotic arm mounting bases, a six-degree-of-freedom robotic arm and an end effector. The robotic arm mounting base is fixed to the outer casing of the control system by bolts, and the six-degree-of-freedom robotic arm is fixed to the robotic arm mounting base by bolts. The robotic arm mounting base is a hollow structure for wiring, and the end effector is fixed to the six-degree-of-freedom robotic arm by bolts.

[0006] Furthermore, the lifting mechanism consists of a pair of lifting platforms, lifting guide rails and a lifting stepper motor. The lifting platform and the lifting guide rails are connected by a screw, and the screw is connected to the output end of the stepper motor. The lifting height of the lifting platform is controlled by the stepper motor.

[0007] Furthermore, the collecting mechanism is composed of a longitudinal limiting mechanism, a toggle mechanism, and a first transverse limiting mechanism and a second transverse limiting mechanism with the same structure. The toggle mechanism is used to toggle the fruit container to move to an adjacent lifting platform under the limiting action of the first transverse limiting mechanism and the second transverse limiting mechanism.

[0008] Furthermore, the longitudinal limiting mechanism is composed of a longitudinal limiting mechanism support frame, a longitudinal limiting baffle fixing mechanism and a longitudinal limiting baffle, the transverse limiting mechanism is composed of a transverse limiting mechanism support frame, a transverse limiting baffle fixing mechanism and a transverse limiting baffle, and the toggle mechanism is composed of a C-shaped end toothed bar, a toggle mechanism stepper motor and a toggle mechanism support frame, wherein the longitudinal limiting mechanism support frame is fixed on the control system, the toggle mechanism support frame is fixed on the crawler mobile chassis, and the transverse limiting mechanism support frame is fixed on the crawler mobile chassis by welding.

[0009] Furthermore, the longitudinal limit baffle fixing mechanism is provided with two groups and is fixed to the longitudinal limit mechanism support frame by bolts, the longitudinal limit baffle is fixed to the two groups of limit baffle fixing mechanisms by bolts, and a plurality of rollers are installed on the longitudinal limit baffle and are distributed on one side of the fruit container limit.

[0010] Furthermore, the transverse limit baffle fixing mechanism is provided with two groups and is fixed to the transverse limit mechanism support frame by bolts. The transverse limit baffle fixing mechanism is a bilaterally symmetrical structure, with a group of transverse limit baffles fixed on both sides by bolts respectively. Several rollers are installed on the transverse limit baffles and are distributed on one side of the fruit container limit.

[0011] Furthermore, the rack bar at the C-shaped end and the toggle mechanism stepper motor form a gear rack motion pair, and the toggle mechanism stroke is controlled by controlling the toggle mechanism stepper motor. The toggle mechanism stepper motor is fixed to the toggle mechanism support frame by bolts.

[0012] The beneficial effects of the present invention are: The device of the present invention can automatically pick and collect fresh grape bunches in an orchard environment. It adopts dual picking mechanical arms and the cooperation between the picking mechanical arms and the collection device to realize the automatic update of the grape bunch collection container after picking, thereby achieving long-term continuous picking and greatly improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an overall oblique axis diagram of the device of the present invention; Figure 2 It is an oblique axis diagram of the collecting mechanism of the device of the present invention; Figure 3 A top view of the collecting mechanism of the device of the present invention; Figure 4This is an oblique axis diagram of the fruit container limiting mechanism of the device of the present invention. DETAILED DESCRIPTION

[0014] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0015] like Figure 1 As shown, a fresh grape picking and collecting device includes a crawler-type mobile chassis 1 as a carrying platform, and a control system 2, a picking mechanism 3, a collecting mechanism 4 and a lifting mechanism 5 mounted thereon. The control system 2 is arranged at one end of the crawler-type mobile chassis 1, and the picking mechanism 3 is arranged on the upper part of the outer shell of the control system 2 for picking and placing fruits. The collecting mechanism 4 is arranged on the inner side of the picking mechanism 3 to drive the corresponding fruit container into the placing stroke of the picking mechanism 3. The lifting mechanism 5 is arranged on one side of the collecting mechanism 4 for lifting the fruit container onto the collecting mechanism 4.

[0016] The picking mechanism 3 consists of a pair of robotic arm mounting bases 3.1, a six-degree-of-freedom robotic arm 3.2 and an end effector 3.3. The robotic arm mounting base 3.1 is fixed to the outer casing of the control system 2 by bolts, and the six-degree-of-freedom robotic arm 3.2 is fixed to the robotic arm mounting base 3.1 by bolts. The robotic arm mounting base 3.1 is a hollow structure for wiring, and the end effector 3.3 is fixed to the six-degree-of-freedom robotic arm 3.2 by bolts.

[0017] The lifting mechanism 5 consists of a pair of lifting platforms 5.1, a lifting guide rail 5.2 and a lifting stepper motor 5.3. The lifting platform 5.1 and the lifting guide rail 5.2 are connected by a screw, and the screw is connected to the output end of the stepper motor 5.3. The lifting height of the lifting platform 5.1 is controlled by the stepper motor 5.3.

[0018] like Figure 3 As shown, the collecting mechanism 4 is composed of a longitudinal limiting mechanism 4.1, a toggle mechanism 4.2, and a first transverse limiting mechanism 4.4 and a second transverse limiting mechanism 4.6 of the same structure. The toggle mechanism 4.2 is used to toggle the fruit container to move to the adjacent lifting platform 5.1 under the limiting action of the first transverse limiting mechanism 4.4 and the second transverse limiting mechanism 4.6.

[0019] like Figure 2As shown, the longitudinal limiting mechanism 4.1 is composed of a longitudinal limiting mechanism support frame 4.1.1, a longitudinal limiting baffle fixing mechanism 4.1.3 and a longitudinal limiting baffle 4.1.2; the transverse limiting mechanism 4.4 is composed of a transverse limiting mechanism support frame 4.4.1, a transverse limiting baffle fixing mechanism 4.4.2 and a transverse limiting baffle 4.4.3; the toggle mechanism 4.2 is composed of a rack bar 4.2.1 at a C-shaped end, a toggle mechanism stepper motor 4.2.2 and a toggle mechanism support frame 4.2.3; wherein the longitudinal limiting mechanism support frame 4.1.1 is fixed to the control system 2 by welding, the toggle mechanism support frame 4.2.3 is fixed to the crawler mobile chassis 1 by welding, and the transverse limiting mechanism support frame 4.4.1 is fixed to the crawler mobile chassis 1 by welding.

[0020] like Figure 4 As shown, the longitudinal limit baffle fixing mechanism 4.1.3 is provided with two groups and is fixed to the longitudinal limit mechanism support frame 4.1.1 by bolts, and the longitudinal limit baffle 4.1.2 is fixed to the two groups of limit baffle fixing mechanisms 4.1.3 by bolts, and a plurality of rollers are installed on the longitudinal limit baffle 4.1.2 and distributed on one side of the fruit container limit.

[0021] The transverse limit baffle fixing mechanism 4.4.2 is provided with two groups and is fixed to the transverse limit mechanism support frame 4.4.1 by bolts. The transverse limit baffle fixing mechanism 4.4.2 is a bilaterally symmetrical structure, and a group of transverse limit baffles 4.4.3 are fixed on both sides by bolts. Several rollers are installed on the transverse limit baffle 4.4.3 and are distributed on one side of the fruit container limit.

[0022] The rack bar 4.2.1 at the C-shaped end and the toggle mechanism stepper motor 4.2.2 form a gear rack motion pair, and the toggle mechanism stroke is controlled by controlling the toggle mechanism stepper motor 4.2.2. The toggle mechanism stepper motor 4.2.2 is fixed to the toggle mechanism support frame 4.2.3 by bolts.

[0023] Action process and principle of the present invention The crawler-type mobile chassis 1 moves the entire device to the grape picking position and stops. The grape bunch is identified and located by the camera on the end effector. The six-degree-of-freedom robot arm 3.2 moves the end effector to the picking position after motion planning. The grape stems are cut by the end effector, and the gripper clamps the stems of the removed grape bunch. The six-degree-of-freedom robot arm 3.2 drives the end again to the top of the fruit container 4.3 at the placement position, and places the picked grape bunch in the fruit container 4.3, completing the picking of a single bunch of grapes. The placement is repeated until the fruit container is full. At this time, the toggle mechanism 4.2 is started. Under the joint action of the first lateral limit mechanism 4.4 and the second lateral limit mechanism 4.6, the fully loaded fruit container 4.3 is moved longitudinally to the lifting platform of the adjacent lifting mechanism, that is, the position of the fruit container 4.5. The lifting stepper motor of the lifting mechanism 5 5.3 drives the lifting platform 5.1 to rise, lifts the next empty fruit container to the placement position, and the adjacent lifting platform 5.1 descends to reserve a shifting space for the fruit container in the placement position; thereafter, the above actions are repeated until all the fruit containers on the lifting platform 5.1 are full, the crawler mobile chassis 1 moves to a fixed position, removes the fruit container full of grape bunches and replenishes it with a new empty fruit container, and the entire device enters the next working cycle. During the entire working cycle, the two groups of mechanisms operate relatively independently and do not interfere with each other. That is, when the end camera of the six-degree-of-freedom robotic arm 3.2 recognizes that a single gift box is full, the shifting mechanism 4.2 shifts the full fruit container to the adjacent platform. At this time, the lifting mechanism 5 starts to lift the next empty fruit container to the waiting position until all the fruit containers are full, and the picking mechanism 3 waits for the empty fruit container to be replenished.

[0024] In addition, it should be noted that, unless otherwise specified or indicated, the terms "first", "second", etc. in the specification are only used to distinguish the various components, elements, steps, etc. in the specification, and are not used to indicate the logical relationship or sequential relationship between the various components, elements, steps, etc.

[0025] It is understood by those skilled in the art that the relevant modules involved in the present invention and the functions they implement can be implemented by carrying conventional computer software programs or relevant protocols in the prior art on the improved hardware and the devices, components or systems it constitutes, and that it is not an improvement to the computer software programs or relevant protocols in the prior art. For example, the improved computer hardware system can still implement the specific functions of the hardware system by loading the existing software operating system. Therefore, it can be understood that the innovation of the present invention lies in the improvement of the hardware modules in the prior art and their connection and combination relationship, rather than simply the improvement of the software or protocols installed in the hardware modules to implement the relevant functions.

[0026] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A fresh grape picking and collecting device, characterized in that: The device comprises a crawler-type mobile chassis (1) as a carrying platform, and a control system (2), a picking mechanism (3), a collecting mechanism (4) and a lifting mechanism (5) carried thereon. The control system (2) is arranged at one end of the crawler-type mobile chassis (1), the picking mechanism (3) is arranged on the upper part of the outer shell of the control system (2) and is used for picking and placing fruits. The collecting mechanism (4) is arranged on the inner side of the picking mechanism (3) and drives the corresponding fruit container to enter the placing stroke of the picking mechanism (3). The lifting mechanism (5) is arranged on one side of the collecting mechanism (4) and is used for lifting the fruit container onto the collecting mechanism (4).

2. The fresh grape picking and collecting device according to claim 1, characterized in that: The picking mechanism (3) is composed of a pair of manipulator arm mounting seats (3.1), a six-degree-of-freedom manipulator arm (3.2) and an end effector (3.3); the manipulator arm mounting seat (3.1) is fixed to the housing of the control system (2) by bolts; the six-degree-of-freedom manipulator arm (3.2) is fixed to the manipulator arm mounting seat (3.1) by bolts; the manipulator arm mounting seat (3.1) is a hollow structure for wiring; and the end effector (3.3) is fixed to the six-degree-of-freedom manipulator arm (3.2) by bolts.

3. The fresh grape picking and collecting device according to claim 2, characterized in that: The lifting mechanism (5) is composed of a pair of lifting platforms (5.1), a lifting guide rail (5.2) and a lifting stepping motor (5.3); the lifting platform (5.1) and the lifting guide rail (5.2) are connected via a lead screw, and the lead screw is connected to the output end of the stepping motor (5.3); the lifting height of the lifting platform (5.1) is controlled by the stepping motor (5.3).

4. The fresh grape picking and collecting device according to claim 3, characterized in that: The collecting mechanism (4) is composed of a longitudinal limiting mechanism (4.1), a toggle mechanism (4.2), and a first transverse limiting mechanism (4.4) and a second transverse limiting mechanism (4.6) having the same structure. The toggle mechanism (4.2) is used to toggle the fruit container to move to an adjacent lifting platform (5.1) under the limiting action of the first transverse limiting mechanism (4.4) and the second transverse limiting mechanism (4.6).

5. The fresh grape picking and collecting device according to claim 4, characterized in that: The longitudinal limiting mechanism (4.1) is composed of a longitudinal limiting mechanism support frame (4.1.1), a longitudinal limiting baffle fixing mechanism (4.1.3) and a longitudinal limiting baffle (4.1.2); the transverse limiting mechanism (4.4) is composed of a transverse limiting mechanism support frame (4.4.1), a transverse limiting baffle fixing mechanism (4.4.2) and a transverse limiting baffle (4.4.3); the toggle mechanism (4.2) is composed of a C-shaped end toothed bar (4.2.1), a toggle mechanism stepping motor (4.2.2) and a toggle mechanism support frame (4.2.3); wherein the longitudinal limiting mechanism support frame (4.1.1) is fixed on the control system (2), the toggle mechanism support frame (4.2.3) is fixed on the crawler mobile chassis (1), and the transverse limiting mechanism support frame (4.4.1) is fixed on the crawler mobile chassis (1).

6. The fresh grape picking and collecting device according to claim 5, characterized in that: The longitudinal limit baffle fixing mechanism (4.1.3) is provided with two groups and is fixed to the longitudinal limit mechanism support frame (4.1.1) by bolts. The longitudinal limit baffle (4.1.2) is fixed to the two groups of limit baffle fixing mechanisms (4.1.3) by bolts. A plurality of rollers are installed on the longitudinal limit baffle (4.1.2) and are distributed on one side of the fruit container limit.

7. The fresh grape picking and collecting device according to claim 6, characterized in that: The transverse limit baffle fixing mechanism (4.4.2) is provided with two groups and is fixed to the transverse limit mechanism support frame (4.4.1) by bolts. The transverse limit baffle fixing mechanism (4.4.2) is a bilaterally symmetrical structure, and a group of transverse limit baffles (4.4.3) are fixed on both sides by bolts respectively. A plurality of rollers are installed on the transverse limit baffles (4.4.3) and are distributed on one side of the fruit container limit.

8. The fresh grape picking and collecting device according to claim 7, characterized in that: The rack bar (4.2.1) at the C-shaped end and the toggle mechanism stepper motor (4.2.2) form a gear rack kinematic pair. The toggle mechanism stroke is controlled by controlling the toggle mechanism stepper motor (4.2.2). The toggle mechanism stepper motor (4.2.2) is fixed to the toggle mechanism support frame (4.2.3) by bolts.

Images