Automatic grape picking device

Abstract

The application discloses a grape automatic picking device and relates to the field of agricultural picking equipment.The grape automatic picking device comprises a vehicle body, a steering assembly, a workbench, an azimuth control assembly, a turnover assembly, a picking assembly, a packing and weighing assembly, a storage box and a visual identification assembly.The workbench is rotatably connected to the top of the vehicle body through the steering assembly.The fixed end of the azimuth control assembly is slidably connected to one long side of the workbench.The fixed end of the turnover assembly is fixedly connected to the working end of the azimuth control assembly.The picking assembly is installed above the turnover assembly.The packing and weighing assembly and the storage box are sequentially arranged on the other long side of the workbench according to a work flow.Multiple visual identification assemblies for identifying the road conditions around the vehicle body and the picking target information are arranged on the periphery of the vehicle body and the side of the picking assembly facing the picking target.The grape automatic picking device realizes the autonomous classification picking and packing and storage of grapes of different varieties and different sizes, reduces the labor intensity and effectively improves the work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural picking equipment, in particular to an automatic grape picking device. BACKGROUND

[0002] Grape picking is a seasonal operation, which is currently mainly carried out by manual operation. The operation is not only labor-intensive, but also low in work efficiency. In particular, in the process of picking grapes growing at a high position of a grape trellis, a climbing tool needs to be used, so that the picking steps are very cumbersome and have a certain risk.

[0003] Therefore, how to develop an automatic grape picking device to realize autonomous classification picking and packaging storage of grapes of different varieties and different sizes, reduce labor intensity and effectively improve work efficiency has become a difficult problem to be solved by those skilled in the art. SUMMARY

[0004] The present application aims to provide an automatic grape picking device to realize autonomous classification picking and packaging storage of grapes of different varieties and different sizes, reduce labor intensity and effectively improve work efficiency, which has become a difficult problem to be solved by those skilled in the art.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] The automatic grape picking device comprises a vehicle body, a steering assembly, a workbench, an azimuth control assembly, a turnover assembly, a picking assembly, a packaging and weighing assembly, a storage box and a visual recognition assembly. The workbench is rotatably connected to the top of the vehicle body through the steering assembly. The fixed end of the azimuth control assembly is slidably connected to one side of the long side of the workbench. The fixed end of the turnover assembly is fixedly connected to the working end of the azimuth control assembly. The picking assembly is installed above the turnover assembly. The packaging and weighing assembly and the storage box are sequentially arranged on the other side of the long side of the workbench according to the work flow. A plurality of visual recognition assemblies for recognizing the road conditions and picking target information around the vehicle body and on the side of the picking assembly facing the picking target are provided. The steering assembly, the azimuth control assembly, the turnover assembly, the picking assembly, the packaging and weighing assembly, the storage box and the visual recognition assembly are electrically connected to a PLC controller arranged on the vehicle body.

[0007] Preferably, the steering assembly comprises a hydraulic steering motor and a hydraulic control box. The hydraulic steering motor is installed at the center of the top of the vehicle body. The workbench is connected to the working end of the hydraulic steering motor, and the hydraulic steering motor drives the workbench to rotate. The hydraulic control box is connected to the top of the vehicle body and is in communication with the hydraulic steering motor through a pipeline. The hydraulic control box is electrically connected to the PLC controller.

[0008] Preferably, the orientation control assembly comprises a first servo motor, a first lead screw, a first sliding block, a first electric telescopic rod and a first mounting plate, two first mounting plates are arranged at the two ends of the workbench along the long edge direction, the fixed end of the first servo motor is fixedly connected with any first mounting plate, one end of the first lead screw is in transmission connection with the power output end of the first servo motor, the other end of the first lead screw is in rotational connection with the other first mounting plate, the first sliding block is threadedly sleeved on the first lead screw, and the bottom of the first sliding block is in sliding connection with the workbench, the fixed end of the first electric telescopic rod is connected to the top of the first sliding block, and the first servo motor and the first electric telescopic rod are electrically connected with the PLC controller.

[0009] Preferably, the bottom of the first sliding block is provided with an inverted T-shaped sliding block, and the workbench is provided with an inverted T-shaped sliding groove matched with the inverted T-shaped sliding block, and the inverted T-shaped sliding block is in sliding connection in the inverted T-shaped sliding groove.

[0010] Preferably, the turnover assembly comprises a U-shaped mounting seat, a rotating shaft and a stepping motor, the bottom of the U-shaped mounting seat is fixedly connected with the working end of the first electric telescopic rod, the two ends of the rotating shaft are respectively in rotational connection with the two end side walls of the U-shaped mounting seat, the stepping motor is installed on any side of the U-shaped mounting seat, the power output end of the stepping motor is in transmission connection with one end of the rotating shaft, and the stepping motor is electrically connected with the PLC controller.

[0011] Preferably, the picking assembly comprises a first mounting seat, a storage box, a second sliding block, a second lead screw, a second servo motor, a second mounting plate and a pruning assembly, the first mounting seat is fixedly connected with the rotating shaft through a plurality of C-shaped connecting plates arranged at the bottom, two second mounting plates are arranged at the two ends of the first mounting seat in a direction perpendicular to the rotating shaft, the two ends of the second lead screw are respectively in rotational connection with the two second mounting plates corresponding to each other, the second servo motor is installed on any second mounting plate, the power output end of the second servo motor is in transmission connection with one end of the second lead screw, the second sliding block arranged at the bottom of the storage box is threadedly sleeved on the second lead screw, the pruning assembly is arranged above the storage box through a plurality of supporting rods, and the second servo motor and the pruning assembly are electrically connected with the PLC controller.

[0012] Preferably, the storage box comprises a storage box body, a side cover and a second electric telescopic rod, the side cover is hingedly connected with the storage box body, two second electric telescopic rods for controlling the opening and closing of the side cover are arranged on the two sides of the storage box body, the fixed end of the second electric telescopic rod is hingedly connected with one side of the storage box body, the working end of the second electric telescopic rod is hingedly connected with one side of the side cover, a pulley is arranged on the side of the side cover away from the storage box body, the pulley is used to contact the conveying belt at the feeding end of the packaging and weighing assembly, and the second electric telescopic rod is electrically connected with the PLC controller.

[0013] Preferably, a plurality of guide wheels are symmetrically arranged on the two sides of the bottom of the storage box, a guide groove matched with the guide wheels is arranged on the top of the first mounting seat, and the guide wheels are embedded in the guide groove and move linearly along the guide groove.

[0014] Preferably, the pruning assembly comprises a second mounting seat, a third servo motor, a cutting blade and a support seat, the second mounting seat is fixedly connected above the storage box through a plurality of support rods, a cutting groove is arranged on the side of the second mounting seat close to the picking target, two third servo motors are symmetrically arranged on the bottom of the second mounting seat and located on the two sides of the cutting groove, the power output end of the third servo motor penetrates through the second mounting seat and is in transmission connection with the cutting blade, the support seat for mounting the visual identification assembly is arranged on the top of the second mounting seat away from the cutting groove, and the third servo motor is electrically connected with the PLC controller.

[0015] Preferably, the storage box comprises a storage box body, a vibration spring and a vibrator, the storage box body is mounted on the top of the workbench through a plurality of vibration springs, and at least one vibrator is mounted on the side wall of the storage box body; and the vibrator is electrically connected with the PLC controller.

[0016] Compared with the prior art, the present application has the beneficial technical effects that:

[0017] 1) The hydraulic steering motor is arranged, so that the workbench, the azimuth control assembly, the overturning assembly and the picking assembly can be rotated and adjusted relative to the horizontal position of the vehicle body, the adjustment operation of the optimal picking angle of the picking assembly can be completed when the vehicle body is stationary, the optimal picking angle is avoided to be found by constantly changing the position of the vehicle body during picking, and the picking efficiency is effectively improved.

[0018] 2) The azimuth control assembly is arranged, so that the picking assembly can be adjusted relative to the front-rear position and the vertical height of the vehicle body, and the picking work of the grapes in a certain area can be completed when the vehicle body is stationary.

[0019] 3) The side cover and pulley are arranged, and the side cover plays a role of buffering and conveying the target grapes in the process of the target grapes sliding to the feeding port of the packaging and weighing assembly. In addition, the pulley can be directly in contact with the conveying belt of the feeding port of the packaging and weighing assembly, so that the side cover can be as close as possible to the conveying belt of the feeding port of the packaging and weighing assembly, and the damage of the grapes in the sliding process is reduced.

[0020] 4) The vibration spring and the vibrator are arranged, which plays a role of assisting in arranging the grapes placed in the storage box, and avoiding the packaged grapes from accumulating at the same position of the storage box.

[0021] In summary, the present application realizes the angle adjustment operation of the picking assembly under the condition that the vehicle body is stationary through the steering assembly and the orientation control assembly, and completes the collection of the target grapes in a certain area, effectively reduces the number of movement adjustment of the vehicle body, and improves the picking efficiency of the grapes. At the same time, the visual recognition assembly completes the collection of the road condition information around the device and the collection of the information such as the color, size and volume of the target grapes, confirms the picking target, and finally completes the operation of picking, packaging, weighing and storing. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in combination with the drawings.

[0023] Figure 1 The whole structure of the grape automatic fruit picking device of the present application is shown in the figure Figure 1 ;

[0024] Figure 2 The whole structure of the present application is shown in the figure Figure 2 ;

[0025] Figure 3 The orientation control assembly structure of the present application is shown in the figure

[0026] Figure 4 The turnover assembly structure of the present application is shown in the figure

[0027] Figure 5 The picking assembly structure of the present application is shown in the figure Figure 1 ;

[0028] Figure 6 The picking assembly structure of the present application is shown in the figure Figure 2 ;

[0029] Figure 7 The first mounting seat structure of the present application is shown in the figure

[0030] Figure 8 The pruning assembly structure of the present application is shown in the figure

[0031] Figure 9 The working table structure of the present application is shown in the figure

[0032] Explanation of reference signs: 1, vehicle body; 2, steering assembly; 21, hydraulic steering motor; 22, hydraulic control box; 3, workbench; 31, inverted T-shaped sliding groove; 4, azimuth control assembly; 41, first servo motor; 42, first lead screw; 43, first sliding block; 44, first electric telescopic rod; 45, first mounting plate; 46, inverted T-shaped sliding block; 5, overturning assembly; 51, U-shaped mounting seat; 52, rotating shaft; 53, stepper motor; 6, picking assembly; 61, first mounting seat; 611, guide groove; 62, storage box; 621, storage box body; 622, side cover; 623, second electric telescopic rod; 624, pulley; 625, guide wheel; 63, second sliding block; 64, second lead screw; 65, second servo motor; 66, second mounting plate; 67, pruning assembly; 671, second mounting seat; 672, third servo motor; 673, cutting blade; 674, support seat; 675, cutting groove; 68, C-shaped connecting plate; 69, support rod; 7, packaging and weighing assembly; 8, storage box; 81, storage box body; 82, vibration spring; 83, vibrator; 9, visual recognition assembly. DETAILED DESCRIPTION

[0033] In order to make the technical problems to be solved by the present application, the technical solutions and the beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0034] As shown in Figure 1-9 An automatic grape picking device, comprising a vehicle body 1, a steering assembly 2, a workbench 3, an azimuth control assembly 4, an overturning assembly 5, a picking assembly 6, a packaging and weighing assembly 7, a storage box 8 and a visual recognition assembly 9, the workbench 3 is rotatably connected to the top of the vehicle body 1 through the steering assembly 2, the fixed end of the azimuth control assembly 4 is slidingly connected to one side of the long side of the workbench 3, the fixed end of the overturning assembly 5 is fixedly connected to the working end of the azimuth control assembly 4, the picking assembly 6 is installed above the overturning assembly 5, the packaging and weighing assembly 7 and the storage box 8 are sequentially arranged on the other side of the long side of the workbench 3 according to the work flow, a plurality of visual recognition assemblies 9 for recognizing the road conditions around and the picking target information are arranged on the periphery of the vehicle body 1 and the side of the picking assembly 6 facing the picking target, and the steering assembly 2, the azimuth control assembly 4, the overturning assembly 5, the picking assembly 6, the packaging and weighing assembly 7, the storage box 8 and the visual recognition assembly 9 are electrically connected with a PLC controller arranged on the vehicle body 1.

[0035] Specifically, the packaging and weighing assembly 7 in the present application is a prior structure, and reference is made to the patent: an automatic grape packaging device (patent number: CN217673424U), which will not be described here.

[0036] Specifically, as shown in Figure 1-2 , the turning assembly 2 comprises a hydraulic turning motor 21 and a hydraulic control box 22, the hydraulic turning motor 21 is installed at the center of the top of the vehicle body 1, the workbench 3 is connected to the working end of the hydraulic turning motor 21 and the hydraulic turning motor 21 drives the workbench 3 to rotate, the hydraulic control box 22 is connected to the top of the vehicle body 1 and communicates with the hydraulic turning motor 21 through a pipeline, and the hydraulic control box 22 is electrically connected with the PLC controller. Specifically, by arranging the hydraulic turning motor 21, the rotation adjustment of the workbench 3, the azimuth control assembly 4, the overturning assembly 5 and the picking assembly 6 relative to the horizontal azimuth of the vehicle body 1 is realized, which facilitates the adjustment operation of the optimal picking angle of the picking assembly 6 under the condition that the vehicle body 1 is stationary, avoids the need to find the optimal picking angle by constantly changing the position of the vehicle body 1 during picking, and effectively improves the picking efficiency.

[0037] Specifically, as shown in Figure 1-3 , the azimuth control assembly 4 comprises a first servo motor 41, a first positive and negative screw rod 42, a first sliding block 43, a first electric telescopic rod 44 and a first mounting plate 45, two first mounting plates 45 are arranged at the two ends of the workbench 3 along the long edge direction, the fixed end of the first servo motor 41 is fixedly connected with any one of the first mounting plates 45, one end of the first positive and negative screw rod 42 is drivingly connected with the power output end of the first servo motor 41, the other end of the first positive and negative screw rod 42 is rotatably connected with the other first mounting plate 45, the first sliding block 43 is threadedly sleeved on the first positive and negative screw rod 42, and the bottom of the first sliding block 43 is slidingly connected with the workbench 3, and the fixed end of the first electric telescopic rod 44 is connected to the top of the first sliding block 43. The first servo motor 41 and the first electric telescopic rod 44 are electrically connected with the PLC controller. Specifically, the arrangement of the azimuth control assembly 4 facilitates the adjustment operation of the picking assembly 6 relative to the front and rear positions and the vertical height of the vehicle body 1, so that the picking work of the grapes in a certain area can be completed under the condition that the vehicle body 1 is stationary; specifically, the first servo motor 41 drives the first positive and negative screw rod 42 to rotate in the clockwise or counterclockwise direction, thereby driving the first sliding block 43, the first electric telescopic rod 44, the overturning assembly 5 and the picking assembly 6 mounted on the first sliding block 43 to complete the adjustment operation relative to the front and rear positions of the vehicle body 1; and specifically, the adjustment of the overturning assembly 5 and the picking assembly 6 relative to the vertical height of the vehicle body 1 is completed by the lengthening and shortening of the first electric telescopic rod 44.

[0038] Specifically, as shown in Figure 3 , 9As shown, the bottom of the first slider 43 is provided with an inverted T-shaped slider 46, and the workbench 3 is provided with an inverted T-shaped sliding groove 31 matched with the inverted T-shaped slider 46, and the inverted T-shaped slider 46 is slidingly connected in the inverted T-shaped sliding groove 31.

[0039] Specifically, as shown in the figure, Figure 4 As shown, the turnover assembly 5 includes a U-shaped mounting seat 51, a rotating shaft 52 and a stepping motor 53, the bottom of the U-shaped mounting seat 51 is fixedly connected with the working end of the first electric telescopic rod 44, the two ends of the rotating shaft 52 are respectively rotatably connected with the two end side walls of the U-shaped mounting seat 51, the stepping motor 53 is installed on either side of the U-shaped mounting seat 51, and the power output end of the stepping motor 53 is drivingly connected with one end of the rotating shaft 52, and the stepping motor 53 is electrically connected with the PLC controller.

[0040] Specifically, as shown in the figure, Figure 5-8 As shown, the picking assembly 6 includes a first mounting seat 61, a storage box 62, a second slider 63, a second lead screw 64, a second servo motor 65, a second mounting plate 66 and a pruning assembly 67, the first mounting seat 61 is fixedly connected with the rotating shaft 52 through a plurality of C-shaped connecting plates 68 provided at the bottom, two second mounting plates 66 are separately arranged at the two ends of the first mounting seat 61 along the direction perpendicular to the rotating shaft 52, the two ends of the second lead screw 64 are rotatably connected together in correspondence with the two second mounting plates 66, the second servo motor 65 is installed on any one of the second mounting plates 66, and the power output end of the second servo motor 65 is drivingly connected with one end of the second lead screw 64, the second slider 63 provided at the bottom of the storage box 62 is threadedly sleeved on the second lead screw 64, the pruning assembly 67 is arranged above the storage box 62 through a plurality of supporting rods 69, and the second servo motor 65 and the pruning assembly 67 are electrically connected with the PLC controller. Specifically, when the target grape picking operation is performed, the second servo motor 65 drives the second lead screw 64 to rotate in the clockwise or counterclockwise direction, so that the second slider 63 can move towards the picking target along the second lead screw 64, thereby driving the storage box 62 and the pruning assembly 67 installed on the second slider 63 to move forward together, until the pruning assembly 67 completes the cutting operation of the grape stem, and after the target grape falls into the storage box 62, the second servo motor 65 drives the second lead screw 64 to rotate in the opposite direction, until the second slider 63, the storage box 62 and the pruning assembly 67 return to the initial position and stop rotating.

[0041] Specifically, the storage box 62 comprises a storage box body 621, a side cover 622 and a second electric telescopic rod 623, the side cover 622 is hingedly connected with the storage box body 621, two second electric telescopic rods 623 for controlling the opening and closing of the side cover 622 are arranged on the two sides of the storage box body 621, the fixed end of the second electric telescopic rod 623 is hingedly connected with one side of the storage box body 621, the working end of the second electric telescopic rod 623 is hingedly connected with one side of the side cover 622, one side of the side cover 622 away from the storage box body 621 is provided with a pulley 624, the pulley 624 is used to contact the conveying belt at the feeding end of the packaging and weighing assembly 7, and the second electric telescopic rod 623 is electrically connected with the PLC controller. Specifically, the pruning assembly 67 is fixed above the storage box body 621 through a plurality of supporting rods 69 and close to one side of the side cover 622; specifically, when the target grape falls into the storage box body 621, the stepping motor 53 drives the rotating shaft 52 and the storage box body 621 fixed on the rotating shaft 52 to tilt and approach the direction of the conveying belt feeding port of the packaging and weighing assembly 7, at the same time, the second electric telescopic rod 623 drives the side cover 622 to open, so that the target grape slides through the gap opened by the side cover 622 and the side cover 622 itself to the packaging and weighing assembly 7 for the weighing and packaging operation of the grape; specifically, in the process that the target grape slides to the feeding port of the packaging and weighing assembly 7, the side cover 622 plays a role in buffering and conveying the target grape; specifically, the arrangement of the pulley 624 enables the side cover 622 to approach the conveying belt feeding port of the packaging and weighing assembly 7 as much as possible, so that the damage of the grape in the sliding process is reduced.

[0042] Specifically, a plurality of guide wheels 625 are symmetrically arranged at the bottom of the storage box 62, the top of the first mounting seat 61 is provided with a guide groove 611 matched with the guide wheels 625, and the guide wheels 625 are embedded into the guide groove 611 and move linearly along the guide groove 611.

[0043] Specifically, in order to ensure the complete picking of the grape, the user can lay a flexible buffering material at the bottom of the storage box body 621 according to the actual situation, so as to buffer and protect the grape falling into the storage box body 621, avoid the direct contact between the falling grape and the bottom of the storage box body 621, and protect the integrity of the picked grape; specifically, the flexible buffering material can be polystyrene foam material, polyethylene foam plastic, porous sponge or other composite materials with high buffering and damping performance.

[0044] Specifically, the pruning assembly 67 comprises a second mounting seat 671, third servo motors 672, cutting blades 673 and support seats 674, the second mounting seat 671 is fixedly connected above the storage box 62 through a plurality of support rods 69, a cutting groove 675 is arranged on the side close to the picking target of the second mounting seat 671, two third servo motors 672 are symmetrically arranged at the bottom of the second mounting seat 671 and located on the two sides of the cutting groove 675, the power output end of the third servo motor 672 is in transmission connection with the cutting blade 673 after penetrating through the second mounting seat 671, the support seat 674 for installing the visual recognition assembly 9 is arranged on the side of the top of the second mounting seat 671 away from the cutting groove 675, and the third servo motor 672 is electrically connected with the PLC controller.

[0045] Specifically, the visual recognition assembly 9 adopts a 360-degree rotatable camera; specifically, the visual recognition assembly 9 installed on the top of the support seat 674 is used for monitoring the working state of the cutting blade 673 in real time; the visual recognition assembly 9 installed on the storage box body 621 is used for collecting the size and color of the target grape to be picked and transmitting the obtained target information to the PLC controller, so as to judge the variety of the grape to be picked by color and judge whether the grape reaches the picking standard by size; specifically, the judgment standard of the color and size of the grape is set in the PLC controller in advance; specifically, the visual recognition assembly 9 arranged around the vehicle body 1 is used for obtaining the road condition information on the advancing route of the device and timely adjusting the advancing route.

[0046] Specifically, as shown in Figure 2 Specifically, the storage box 8 comprises a storage box body 81, vibration springs 82 and a vibrator 83, the storage box body 81 is installed on the top of the workbench 3 through a plurality of vibration springs 82, and at least one vibrator 83 is installed on the side wall of the storage box body 81, and the vibrator 83 is electrically connected with the PLC controller. Specifically, the vibration springs 82 and the vibrator 83 are arranged to assist in arranging the placed grapes in the storage box 8, so as to avoid that the packed grapes accumulate at the same position of the storage box 8.

[0047] The use process of the present application is as follows:

[0048] Firstly, the vehicle body 1 drives the device to move into the area of the target to be picked, and in the moving process, the visual recognition assembly 9 arranged around the vehicle body 1 obtains the road condition information on the advancing route in real time and timely plans and adjusts the advancing route, and the visual recognition assembly 9 arranged on one side of the storage box body 621 is used for identifying the target to be picked and judging whether the variety and size of the target grape meet the picking standard;

[0049] Secondly, in the process of picking the target grapes, the picking assembly 6 is driven by the hydraulic steering motor 21 to complete the rotation adjustment relative to the horizontal position of the vehicle body 1, and the picking assembly 6 is driven by the orientation control assembly 4 to complete the adjustment of the front and rear positions and the vertical height relative to the vehicle body 1, until the picking assembly 6 is aligned with the target to be picked;

[0050] Thirdly, the storage box body 621 and the cutting blade 673 are driven by the second lead screw 64 and the second sliding block 63 to move forward together until the fruit stem of the target to be picked is cut off by the cutting blade 673, and after the target to be picked falls into the storage box body 621, the turnover assembly 5 drives the storage box body 621 to tilt towards the feeding port of the packaging and weighing assembly 7, and at the same time, the second electric telescopic rod 623 drives the side cover 622 to open, so that the target grapes can enter the packaging and weighing assembly 7 through the gap opened by the side cover 622 and the side cover 622 itself;

[0051] Then, the target grapes will complete the weighing and packaging operation steps in the packaging and weighing assembly 7, and after the operation of weighing and packaging, the grapes will enter the storage box body 81 through the conveying belt discharge port of the packaging and weighing assembly 7;

[0052] Finally, under the action of the vibrator 83 and the vibration spring 82, the storage box body 81 is driven to shake regularly for a certain period of time, so that the grapes entering the storage box body 81 can be evenly placed.

[0053] It should be noted that in this text, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0054] The above-described embodiments are only descriptions of the preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. An automatic grape-picking device, characterized in that: The system includes a vehicle body (1), a steering assembly (2), a workbench (3), an orientation control assembly (4), a flipping assembly (5), a picking assembly (6), a packing and weighing assembly (7), a storage box (8), and a vision recognition assembly (9). The workbench (3) is rotatably connected to the top of the vehicle body (1) via the steering assembly (2). The fixed end of the orientation control assembly (4) is slidably connected to one side of the long side of the workbench (3). The fixed end of the flipping assembly (5) is fixedly connected to the working end of the orientation control assembly (4). The picking assembly (6) is mounted on the flipping assembly. Above component (5), the packing and weighing component (7) and storage box (8) are arranged sequentially on the other side of the long side of the workbench (3) according to the workflow. Multiple visual recognition components (9) for identifying the surrounding road conditions and picking target information are arranged around the vehicle body (1) and on the side of the picking component (6) facing the picking target. The steering component (2), orientation control component (4), flipping component (5), picking component (6), packing and weighing component (7), storage box (8), and visual recognition component (9) are all electrically connected to the PLC controller set on the vehicle body (1). The orientation control component (4) includes a first servo motor (41), a first positive and negative lead screw (42), a first slider (43), a first electric telescopic rod (44), and a first mounting plate (45). The two first mounting plates (45) are respectively disposed at both ends of the workbench (3) along the long side direction. The fixed end of the first servo motor (41) is fixedly connected to either of the first mounting plates (45). One end of the first positive and negative lead screw (42) is connected to the power output end of the first servo motor (41) for transmission. The other end of the first positive and negative lead screw (42) is rotatably connected to the other first mounting plate (45). The first slider (43) is threadedly connected to the first positive and negative lead screw (42), and the bottom of the first slider (43) is slidably connected to the workbench (3). The fixed end of the first electric telescopic rod (44) is connected to the top of the first slider (43). The first servo motor (41) and the first electric telescopic rod (44) are both electrically connected to the PLC controller. The flipping assembly (5) includes a U-shaped mounting base (51), a rotating shaft (52), and a stepper motor (53). The bottom of the U-shaped mounting base (51) is fixedly connected to the working end of the first electric telescopic rod (44). The two ends of the rotating shaft (52) are rotatably connected to the two side walls of the U-shaped mounting base (51). The stepper motor (53) is installed on either side of the U-shaped mounting base (51), and the power output end of the stepper motor (53) is connected to one end of the rotating shaft (52). The stepper motor (53) is electrically connected to the PLC controller. The harvesting assembly (6) includes a first mounting base (61), a storage box (62), a second slider (63), a second forward and reverse lead screw (64), a second servo motor (65), a second mounting plate (66), and a pruning assembly (67). The first mounting base (61) is fixedly connected to the rotating shaft (52) through multiple C-shaped connecting plates (68) provided at the bottom. Two second mounting plates (66) are respectively disposed at both ends of the first mounting base (61) in a direction perpendicular to the rotating shaft (52). The two ends of the second forward and reverse lead screw (64) are respectively connected to the two second mounting plates (66). The corresponding rotational connections are made together. The second servo motor (65) is mounted on any of the second mounting plates (66), and the power output end of the second servo motor (65) is connected to one end of the second positive and negative lead screw (64). The second slider (63) located at the bottom of the storage box (62) is threadedly connected to the second positive and negative lead screw (64). The pruning assembly (67) is located above the storage box (62) through multiple support rods (69). The second servo motor (65) and the pruning assembly (67) are both electrically connected to the PLC controller.

2. The automatic grape picking device according to claim 1, characterized in that: The steering assembly (2) includes a hydraulic steering motor (21) and a hydraulic control box (22). The hydraulic steering motor (21) is installed at the center of the top of the vehicle body (1). The worktable (3) is connected to the working end of the hydraulic steering motor (21) and the hydraulic steering motor (21) drives the worktable (3) to rotate. The hydraulic control box (22) is connected to the top of the vehicle body (1) and is connected to the hydraulic steering motor (21) through a pipe. The hydraulic control box (22) is electrically connected to the PLC controller.

3. The automatic grape picking device according to claim 2, characterized in that: The bottom of the first slider (43) is provided with an inverted T-shaped slider (46), and the worktable (3) is provided with an inverted T-shaped groove (31) that matches the inverted T-shaped slider (46). The inverted T-shaped slider (46) is slidably connected in the inverted T-shaped groove (31).

4. The automatic grape picking device according to claim 1, characterized in that: The storage box (62) includes a storage box body (621), a side cover (622), and a second electric telescopic rod (623). The side cover (622) is hinged to the storage box body (621). Two second electric telescopic rods (623) for controlling the opening and closing of the side cover (622) are respectively disposed on both sides of the storage box body (621). The fixed end of the second electric telescopic rod (623) is hinged to one side of the storage box body (621), and the working end of the second electric telescopic rod (623) is hinged to one side of the side cover (622). A pulley (624) is provided on the side of the side cover (622) away from the storage box body (621). The pulley (624) is used to contact the conveyor belt at the feeding end of the packaging weighing component (7). The second electric telescopic rod (623) is electrically connected to the PLC controller.

5. The automatic grape picking device according to claim 4, characterized in that: The storage box (62) has multiple guide wheels (625) symmetrically arranged on both sides of its bottom. The top of the first mounting base (61) is provided with a guide groove (611) that matches the guide wheel (625). The guide wheel (625) is embedded in the guide groove (611) and moves linearly along the guide groove (611).

6. The automatic grape-picking device according to claim 1, characterized in that: The pruning assembly (67) includes a second mounting base (671), a third servo motor (672), a cutting blade (673), and a support base (674). The second mounting base (671) is fixedly connected to the upper part of the storage box (62) by multiple support rods (69). The second mounting base (671) has a cutting groove (675) on the side near the picking target. Two third servo motors (672) are symmetrically arranged at the bottom of the second mounting base (671) and on both sides of the cutting groove (675). The power output end of the third servo motor (672) passes through the second mounting base (671) and is connected to the cutting blade (673) for transmission. The support base (674) for installing the visual recognition assembly (9) is arranged on the top of the second mounting base (671) away from the cutting groove (675). The third servo motor (672) is electrically connected to the PLC controller.

7. The automatic grape picking device according to claim 1, characterized in that: The storage box (8) includes a storage box body (81), vibration springs (82) and a vibrator (83). The storage box body (81) is mounted on the top of the workbench (3) by multiple vibration springs (82). At least one vibrator (83) is mounted on the side wall of the storage box body (81). The vibrator (83) is electrically connected to the PLC controller.

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