A fresh grape high-efficiency harvesting integrated robot

Abstract

The present application belongs to the technical field of agricultural fresh fruit automatic harvesting integrated mechanical equipment, and discloses a high-efficiency fresh grape harvesting integrated robot. The robot is mainly characterized in that a lifting platform is mounted on a crawler trolley, an electric rotary table and at least two fruit baskets are arranged on the lifting platform, a first linear motor is mounted on the electric rotary table through a rotary table base, a rotary harvesting arm is connected to the end of the push rod of the first linear motor through a first mounting hole, a shearing clamp device and a ratchet assembly are arranged on the other end of the rotary harvesting arm, the end of the push rod of a third linear motor is connected to a movable sliding seat, the shearing clamp device drives the movable sliding seat to reciprocate forward and backward to realize shearing action, a recycling transfer device is rotatably connected to the second linear motor through the ratchet assembly, and the ratchet assembly makes the second linear motor complete one-way 90° rotation under each movement of the driving base, so that one harvesting action can complete the basketing and placing of 4 grape clusters, and the picking efficiency is greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of integrated automatic harvesting machinery and equipment for fresh agricultural fruits, specifically relating to an integrated robot for efficient harvesting of fresh grapes. Background Technology

[0002] Currently, in small and medium-sized non-standardized grape plantations, mechanized grape harvesting and recycling equipment employs various harvesting methods and recycling principles, mostly involving manual shearing and bagged or basket-based recycling, which is time-consuming and labor-intensive. In existing technology, Chinese patent CN202023106262.6 discloses a novel grape harvesting robot, including a tracked walking device, a collection device, and a shearing device. The shearing device uses a six-degree-of-freedom robotic arm and a robotic gripper, using a binocular camera on the robotic arm to identify and harvest the fruit stems. However, it can only operate on one bunch of grapes at a time during harvesting and collection. Therefore, this type of grape harvesting robot suffers from complex control and long processing time, failing to effectively meet the harvesting efficiency requirements of large-scale planting. Additionally, Chinese patent CN202111177689.1 discloses a grape harvesting robot, which mainly includes a walking mechanism, a multi-joint arm, and a harvester. One end of the multi-joint arm is connected to the walking mechanism, and the other end is connected to the harvester. This invention uses a harvester to package and harvest grapes, and further collects them through flexible channels and bins, thus achieving sustainable grape harvesting and packaging and improving efficiency. However, due to the large variation in grape bunch size, it is difficult to guarantee the quality of packaging and the proper placement in the baskets, which can easily lead to grape compression and damage. Therefore, the grape harvesting robot disclosed in the above solution needs improvement in terms of shearing stability, recovery protection, harvesting coordination, and single-station operation. Furthermore, the multi-joint robotic arm design is not suitable for harvesting grapes on high trellises, resulting in long harvesting times and low single-load capacity. Summary of the Invention

[0003] In view of the numerous problems existing in the background technology of grape harvesting robots in actual harvesting and recycling, they cannot efficiently replace manual labor to complete grape harvesting and recycling in environments with high trellises such as vineyards and greenhouses, thus hindering the rapid development of agricultural automation. Therefore, this invention provides an integrated robot for efficient harvesting of fresh grapes.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an integrated robot for efficient harvesting of fresh grapes, comprising a tracked vehicle, on which are mounted a binocular camera, a controller, and a battery for power supply. The binocular camera uploads images of fresh grapes to the controller, which identifies the target maturity, determines the harvesting order, locates the fruit stem, and establishes the harvesting path. A lifting platform is mounted on the tracked vehicle, and an electric rotary table and at least two fruit baskets are respectively arranged on the lifting platform. The fruit baskets are distributed around the electric rotary table. A linear motor is mounted on the electric rotary table via a turntable base. A first mounting hole is provided at one end of the rotating harvesting arm, and the push rod end of the first linear motor is connected to the rotating harvesting arm through the first mounting hole. A second mounting hole and a third mounting hole are respectively provided at the other end of the rotating harvesting arm, and a shearing device is installed in the third mounting hole. Two sliding grooves are provided on the rotating harvesting arm, and movable sliding seats are slidably arranged in the two sliding grooves. A third linear motor is installed on the rotating harvesting arm inside the base. The push rod end of the third linear motor is connected to the movable slide. The shearing device drives the movable slide to slide back and forth through the third linear motor to achieve the shearing action. A ratchet assembly is rotatably installed in the third mounting hole. A drive seat is fixedly connected to the front end of the movable slide. A second linear motor is rotatably connected to the rotating harvesting arm through the ratchet assembly. A recovery and transfer device is installed on the second linear motor. The recovery and transfer device includes a flexible conical support platform and a matching annular cover. The center of the flexible conical support platform is connected to the push rod end of the second linear motor. The annular cover is connected to the side wall of the second linear motor through four L-shaped hanging rods. The four L-shaped hanging rods divide the flexible conical support platform into four working positions. The shearing point of the shearing device is located directly above any one of the working positions. With each movement of the drive seat, the ratchet assembly causes the second linear motor to complete a unidirectional 90° rotation, thereby realizing continuous harvesting operation at the four working positions.

[0005] As a further explanation and limitation of the above technical solution, the shearing clamping device includes two shear bodies. The middle parts of the two shear bodies are hinged together by a pin shaft, and both are fixed in the second mounting hole by the pin shaft. The head parts of the two shear bodies are respectively provided with shear blades and corrugated pressure plates. The tail parts of the two shear bodies are respectively hinged to a movable slide by a transmission link. Under the transmission of the two transmission links, the two shear bodies drive the two corrugated pressure plates to clamp the fruit stem and the two shear blades to perform synchronous shearing action through the reciprocating movement of the movable slide.

[0006] As a further supplement to the above technical solution, a limiting groove corresponding to the pin shaft is provided at the front end of the drive seat.

[0007] As a further explanation and limitation of the above technical solution, the ratchet assembly includes a semi-circular slider, a ratchet frustum, and a fixed turntable. The semi-circular slider and the ratchet frustum are tightly fitted together in the third mounting hole to form a ratchet one-way control mechanism. The fixed turntable is fixedly connected to the ratchet frustum. The second linear motor is mounted on the fixed turntable. A drive plate and a reset block corresponding to the semi-circular slider are fixedly connected in the drive seat. When the drive seat moves forward, the semi-circular slider is driven to rotate by the drive plate, thereby engaging and driving the ratchet frustum to rotate unidirectionally. When the drive seat moves backward, the reset block drives the semi-circular slider to rotate in the opposite direction and separates it from the ratchet frustum.

[0008] As a further explanation and limitation of the above technical solution, the ratchet frustum component includes a ratchet frustum body composed of four quarter-sloping blocks. A drive shaft is fixedly connected to the bottom of the ratchet frustum body. The end of the drive shaft is used to connect to the fixed turntable. The semi-circular slider component includes two superimposed semi-circular blocks. The two semi-circular blocks are arranged in a cross-shaped staggered manner. A biting block corresponding to the quarter-sloping block is fixedly connected to the bottom semi-circular block.

[0009] As a further supplement to the above technical solution, an embedding slot is provided on the lifting platform, which is used to embed the fruit basket.

[0010] As a further explanation and limitation of the above technical solution, the binocular camera is mounted on the top of the movable slide.

[0011] Compared with existing grape-harvesting robots, this invention has the following advantages:

[0012] This invention mounts a shearing and clamping device and a retrieval and transfer device on a tracked trolley via a lifting platform, adapting to grape harvesting environments with higher trellises. The shearing and clamping device and the retrieval and transfer device are connected to the push rod end of a first linear motor via a rotating harvesting arm, addressing the shearing and retrieval of fresh grapes within a limited height range. The first linear motor is mounted on an electric rotary table, and each movement of the drive unit drives a ratchet assembly, causing a second linear motor to rotate 90° in one direction. This enables automatic switching between four workstations, allowing four bunches of grapes to be placed in a basket in a single harvesting action, simplifying the harvesting process and improving efficiency. Therefore, the shearing and clamping device and the retrieval and transfer device of this invention employ a linked design, which not only solves the problem of harvesting coordination but also addresses the issue of single workstations in traditional grape harvesting robots.

[0013] 2. The shearing and clamping device designed in this invention employs two shear bodies hinged together by a pin shaft. Each shear body has a cutting blade and a corrugated clamping plate at its head. The tail sections of both shear bodies are hinged to a movable slide via transmission rods. Driven by the two transmission rods, the two shear bodies move back and forth on the movable slide, causing the two corrugated clamping plates to clamp the fruit stem and the two cutting blades for synchronous shearing. Therefore, the shearing and clamping device of this invention achieves stable shearing action during the shearing process and prevents the fruit bunch from falling uncontrollably due to its own weight, providing strong protection for grape harvesting. Furthermore, the integrated shearing and clamping mechanism relies on a linear motor for blade extension and retraction, ensuring stable and controllable action, reasonable and uniform force transmission, and reduced power consumption. This provides support for adapting to complex outdoor environments and long-term standby without resupply.

[0014] 3. The integrated harvesting mechanism of this invention achieves highly coordinated harvesting through its mechanical structure, enabling automatic rotation of multiple workstations, effectively reducing power consumption, simplifying repetitive actions, comprehensively improving work efficiency, and significantly shortening harvesting time. This invention is more practical as agricultural machinery and is easy to operate.

[0015] 4. Based on the principle of automatic separation, the recycling and transfer device of this invention, after all four stations (A, B, C, and D) are completed, is rotated by an electric rotary table to position the shearing and clamping device and the recycling and transfer device directly above the fruit basket mounted on the lifting platform. A first linear motor continuously lowers a push rod, causing the recycling and transfer device to fall completely into the fruit basket. A second linear motor continuously lowers a push rod, causing the flexible conical support platform to separate from the annular baffle. The fruit bunches then naturally slide down the inclined surface of the flexible conical support platform into the fruit basket, completing the placement of the fruit bunches. Therefore, the recycling and transfer device of this invention provides good protection for grape recycling, and can carry a larger load in a single operation, reducing the number of operations and saving time.

[0016] 5. The present invention has a reliable overall mechanical structure, is easy to operate, and has low maintenance costs. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is an exploded view of the components in this invention;

[0019] Figure 3 This is an assembly diagram of the shearing and clamping device, the recovery and transfer device, the ratchet assembly, and the rotating harvesting arm in this invention;

[0020] Figure 4 This is a diagram showing the distribution of the four stations of the recycling and transfer device in this invention;

[0021] Figure 5 This is a schematic diagram of the shearing device in the present invention;

[0022] Figure 6 This is an assembly diagram of the shear clamp device and the rotating harvesting arm in this invention;

[0023] Figure 7 This is an assembly diagram of the ratchet assembly and the movable slide in this invention;

[0024] Figure 8 This is a schematic diagram of the ratchet assembly in this invention.

[0025] In the diagram: 1 is the tracked trolley, 2 is the lifting platform, 3 is the fruit basket, 4 is the first linear motor, 5 is the rotating harvesting arm, 501 is the first mounting hole, 502 is the chute, 503 is the second mounting hole, 504 is the third mounting hole, 6 is the binocular camera, 7 is the shearing device, 8 is the second linear motor, 9 is the recycling and transfer device, 10 is the embedded slot seat, 11 is the electric rotary table, 12 is the turntable base, 13 is the ratchet assembly, 14 is the drive seat, 15 is the movable slide, 16 is the third linear motor, 17 is the limit stop groove, 18 is the drive plate, and 19 is the reset block.

[0026] The shearing device includes: a shear body 701, a pin shaft 702, a transmission connecting rod 703, a shear blade 704, and a corrugated pressing plate 705.

[0027] The recycling and transfer device includes: a flexible conical support platform (901), an annular baffle (902), and an L-shaped lifting rod (903).

[0028] The ratchet assembly includes: a semi-circular slider component 1301, a ratchet frustum component 1302, and a fixed turntable 1303; wherein the ratchet frustum component: the ratchet frustum body is 13021, and the drive shaft is 13022; the semi-circular slider component: two semi-circular blocks are 13011, and the engagement block is 13012. Detailed Implementation

[0029] To further illustrate the technical solution of the present invention, the following description is in conjunction with the appendix. Figures 1 to 8 The present invention will be further described through preferred embodiments.

[0030] As attached Figures 1 to 6As shown, a highly efficient integrated robot for harvesting table grapes includes a tracked vehicle 1, on which are mounted a binocular camera 6, a controller, and a battery for power supply. The binocular camera 6 is mounted on the top of a movable slide 15. The binocular camera 6 captures images of the table grapes and uploads them to the controller. The controller identifies the target maturity, determines the harvesting order, locates the fruit stems, and determines the harvesting path. A lifting platform 2 is mounted on the tracked vehicle 1, and the lifting platform 2 is provided with at least two embedded slots. 10. Fruit baskets 3 are embedded in each of the embedded slots 10, and the fruit baskets 3 are distributed around the electric rotary table 11. The electric rotary table 11 is set on the lifting platform 2. A linear motor 4 is installed on the electric rotary table 11 through the turntable base 12. A first mounting hole 501 is provided on one end of the rotating harvesting arm 5. The push rod end of the linear motor 4 is connected to the rotating harvesting arm 5 through the first mounting hole 501. A second mounting hole 5 is provided on the other end of the rotating harvesting arm 5. 03. Third mounting hole 504: A shearing clamp device 7 is installed in the third mounting hole 504. The shearing clamp device 7 includes two shear bodies 701. The middle parts of the two shear bodies 701 are hinged together by a pin 702, and the two are fixed in the second mounting hole 503 by the pin 702. The head parts of the two shear bodies 701 are respectively provided with shear blades 704 and corrugated pressure plates 705. The tail parts of the two shear bodies 701 are respectively hinged to the movable slide 15 by a transmission connecting rod 703. Two grooves 502 are provided on the rotating harvesting arm 5. The movable slide block 15 is slidably disposed in the two grooves 502. A No. 3 linear motor 16 is installed on the rotating harvesting arm 5 located in the movable slide block 15. The push rod end of the No. 3 linear motor 16 is connected to the movable slide block 15. The two shear bodies 701 are driven by the two transmission links 703 through the reciprocating movement of the movable slide block 15 to drive the two corrugated pressing plates 705 to clamp the fruit stalk and the two shear blades 704 to perform synchronous shearing action.A ratchet assembly 13 is rotatably mounted in the third mounting hole 504. A drive seat 14 is fixedly connected to the front end of the movable slide 15. A limiting groove 17 corresponding to the pin shaft 702 is provided at the front end of the drive seat 14. A second linear motor 8 is rotatably connected to the rotating harvesting arm 5 via the ratchet assembly 13. A recovery and transfer device 9 is provided on the second linear motor 8. The recovery and transfer device 9 includes a flexible conical support 901 and a matching annular cover 902. The center of the support platform 901 is connected to the end of the push rod of the second linear motor 8. The annular cover 902 is connected to the side wall of the second linear motor 8 through four L-shaped hanging rods 903. The four L-shaped hanging rods 903 divide the flexible cone support platform 901 into four working positions. The shearing point of the shearing device 7 is located directly above any one of the working positions. The ratchet assembly 13 controls the second linear motor 8 to rotate 90° in one direction with the cooperation of the drive seat 14, thereby realizing continuous harvesting operation at the four working positions.

[0031] As a preferred embodiment of this example, see attached... Figure 7 and 8 As shown, the ratchet assembly 13 includes a semi-circular slider 1301, a ratchet frustum 1302, and a fixed turntable 1303. The semi-circular slider 1301 and the ratchet frustum 1302 are tightly fitted together in the third mounting hole 504 to form a ratchet one-way control mechanism. The fixed turntable 1303 is fixedly connected to the ratchet frustum 1302. The second linear motor 8 is mounted on the fixed turntable 1303. A drive plate 18 and a reset block 19 corresponding to the semi-circular slider 1301 are fixedly connected in the drive base 14. The ratchet frustum component 1302 includes a ratchet frustum body 13021 composed of four quarter-sloping blocks. A drive shaft 13022 is fixedly connected to the bottom of the ratchet frustum body 13021. The end of the drive shaft 13022 is used to connect to the fixed turntable 1303. The semi-circular slider component 1301 includes two superimposed semi-circular blocks 13011. The two semi-circular blocks 13011 are arranged in a cross shape. A meshing block 13012 corresponding to the quarter-sloping block is fixedly connected to the bottom semi-circular block 13011. In this embodiment, the semi-circular slider 1301 is driven to rotate by the drive plate 18 during the forward movement of the drive seat 14, thereby engaging the transmission ratchet frustum 1302 for unidirectional rotation; in addition, during the backward movement of the drive seat 14, the semi-circular slider 1301 is driven to rotate in the opposite direction by the reset block 19 and separate from the ratchet frustum 1302. By repeating the above process, the grapes at the four stations A, B, C and D can be accurately positioned.

[0032] Its working principle: The controller identifies the target maturity, determines the picking order, locates the fruit stem, and picks the grapes based on the images of fresh grapes uploaded by the binocular camera 6. It calculates the parameters of the relative distance, height, and angle between the fresh grapes and the cutting device 7. Based on the calculated parameters, the controller controls the tracked trolley 1 to move, the lifting platform 2 to lift, and the electric rotary table 11 to rotate, so that the cutting device 7 is close to the fresh grapes. The controller then controls it to cut the fresh grapes and automatically drop them into the cavity formed by the flexible conical support platform 901 and the annular baffle 902. The controller controls the electric rotary table 11 to rotate and the first linear motor 4 to lift, so that the recycling and transfer device 9 falls into one of the fruit baskets 3. The piston rod of the second linear motor 8 of the host computer extends, so that the flexible conical support platform 901 and the annular baffle 902 separate, and the fresh grapes slide down the flexible conical support platform 901 into the fruit basket 3 to complete the recycling.

[0033] The foregoing has shown and described the main features and advantages of the present invention. It will be apparent to those skilled in the art that the specific embodiments of the present invention are not limited to the details of the exemplary embodiments described above. Furthermore, without departing from the spirit or essential characteristics of the present invention, the inventive concept and design ideas of the present invention can be implemented in other specific forms, and these should be equivalently included within the protection scope disclosed in the technical solutions of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of equivalent elements of the claims are intended to be included within the present invention.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-efficiency integrated robot for harvesting fresh grapes, comprising a tracked vehicle (1), on which a binocular camera (6), a controller, and a battery for power supply are mounted respectively. The binocular camera (6) uploads images of fresh grapes to the controller, which identifies the maturity of the target grapes, determines the harvesting order, locates the fruit stems, and determines the harvesting path. The robot is characterized by: A lifting platform (2) is mounted on the tracked trolley (1). An electric rotary table (11) and at least two fruit baskets (3) are respectively set on the lifting platform (2). The fruit baskets (3) are distributed around the electric rotary table (11). A linear motor (4) is installed on the electric rotary table (11) through a turntable base (12). A first mounting hole (501) is provided on one end of the rotating harvesting arm (5). The push rod end of the linear motor (4) is connected to the rotating harvesting arm (5) through the first mounting hole (501). The rotating harvesting arm (5) The other end of the rotating harvesting arm (5) is provided with a second mounting hole (503) and a third mounting hole (504). A shearing device (7) is installed in the second mounting hole (503). Two sliding grooves (502) are provided on the rotating harvesting arm (5). A movable slide block (15) is slidably arranged in the two sliding grooves (502). A third linear motor (16) is installed on the rotating harvesting arm (5) located in the movable slide block (15). The push rod end of the third linear motor (16) is connected to the movable slide block (15). The shearing device (7) is connected to the third linear motor (16) via the third linear motor (16). 6) The movable slide (15) is driven to slide back and forth to achieve the shearing action. A ratchet assembly (13) is rotatably installed in the third mounting hole (504). A drive seat (14) is fixedly connected to the front end of the movable slide (15). The second linear motor (8) is rotatably connected to the rotating harvesting arm (5) through the ratchet assembly (13). A recovery and transfer device (9) is installed on the second linear motor (8). The recovery and transfer device (9) includes a flexible conical support (901) and a matching annular baffle (902). The flexible conical support (901) The center of 901) is connected to the push rod end of the second linear motor (8). The annular cover (902) is connected to the side wall of the second linear motor (8) through four L-shaped rods (903). The four L-shaped rods (903) divide the flexible cone support (901) into four work positions. The shearing point of the shearing device (7) is located directly above any one of the work positions. The ratchet assembly (13) causes the second linear motor (8) to complete a unidirectional 90° rotation with each movement of the drive seat (14), thereby realizing continuous harvesting operation at the four work positions. The ratchet assembly (13) includes a semi-circular slider (1301), a ratchet frustum (1302), and a fixed turntable (1303). The semi-circular slider (1301) and the ratchet frustum (1302) are tightly fitted together in the third mounting hole (504) to form a ratchet one-way control mechanism. The fixed turntable (1303) is fixedly connected to the ratchet frustum (1302). The second linear motor (8) is mounted on the fixed turntable (1303) and fixed in the drive seat (14). A drive plate (18) and a reset block (19) corresponding to the semi-circular slider (1301) are connected. When the drive seat (14) moves forward, the semi-circular slider (1301) is driven to rotate by the drive plate (18), thereby engaging the ratchet frustum (1302) to rotate in one direction. When the drive seat (14) moves backward, the semi-circular slider (1301) is driven to rotate in the opposite direction by the reset block (19) and separate from the ratchet frustum (1302). The ratchet frustum component (1302) includes a ratchet frustum body (13021) composed of four quarter-sloping blocks. A drive shaft (13022) is fixedly connected to the bottom of the ratchet frustum body (13021). The end of the drive shaft (13022) is used to connect to the fixed turntable (1303). The semi-circular slider component (1301) includes two superimposed semi-circular blocks (13011). The two semi-circular blocks (13011) are arranged in a cross shape. A meshing block (13012) corresponding to the quarter-sloping block is fixedly connected to the bottom semi-circular block (13011).

2. The integrated robot for efficient harvesting of fresh grapes according to claim 1, characterized in that: The shearing device (7) includes two shear bodies (701). The two shear bodies (701) are hinged together at the middle by a pin (702), and both are fixed in the second mounting hole (503) by the pin (702). The head of the two shear bodies (701) is provided with a shear blade (704) and a corrugated pressing plate (705). The tail of the two shear bodies (701) is hinged together to the movable slide (15) by a transmission link (703). Under the transmission of the two transmission links (703), the two shear bodies (701) are driven by the reciprocating movement of the movable slide (15) to drive the two corrugated pressing plates (705) to clamp the fruit stem and the two shear blades (704) to perform synchronous shearing action.

3. The integrated robot for efficient harvesting of fresh grapes according to claim 2, characterized in that: A limiting groove (17) corresponding to the pin shaft (702) is provided at the front end of the drive seat (14).

4. A high-efficiency integrated robot for harvesting fresh grapes according to any one of claims 1 to 3, characterized in that: An embedding slot (10) is provided on the lifting platform (2), and the embedding slot (10) is used to embed the fruit basket (3).

5. The integrated robot for efficient harvesting of fresh grapes according to claim 1, characterized in that: The binocular camera (6) is mounted on top of the movable slide (15).

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