A large-capacity three-dimensional grape storage and transportation device

Abstract

The present invention provides a large-capacity three-dimensional storage and transportation device for grapes, belonging to the technical field of grape storage and transportation, comprising a first mounting frame, a walking mechanism being arranged at the bottom of the first mounting frame, a storage mechanism being arranged at the front side of the first mounting frame, the storage mechanism comprising a plurality of storage trays which are overlapped in the vertical direction and hinged to each other, when storing grapes, each layer of storage trays is rotated out of the first mounting frame from bottom to top in turn, and at the same time, all the storage trays below the layer are rotated synchronously, so that the rotated storage trays maintain an interlaced state with adjacent storage trays, so that bunches of grapes are stored by utilizing the staggered spaces between the storage trays, and the top of the topmost layer of the rotated storage tray is open, so that whole bunches of complete grapes can be conveniently placed therein, which has the effect of increasing the maximum effective storage capacity of grapes in the process of collecting grapes in a single operation, thereby improving the grape storage efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of grape storage and transportation, and in particular to a large-capacity three-dimensional grape storage and transportation device. Background Art

[0002] Grapes are a common fruit in people's daily lives and are deeply loved by people. As the demand for daily edible grapes continues to increase, grape plantations provide more high-quality grapes.

[0003] In traditional grape plantations, especially for mid- to high-end quality grapes, grape racks are usually needed. During transportation, staff will pass under the racks and, when they see ripe grapes with full grapes, they will take the entire bunch off and place them on the accompanying transport cart. After the transport cart is full of grapes, it will be pushed to the unloading area to unload the grapes, and a new round of harvesting will begin again.

[0004] However, since grapes need to be stored in complete bunches, a large amount of space needs to be reserved on the equipment for placing the grapes. Therefore, the current equipment can only store a small number of grapes in a single trip during the transportation process after the grapes are harvested, and frequent round trips and replacement of empty storage containers are required, which affects the efficiency of grape harvesting in the plantation. Grapes are easy to rot, and the extended harvest time will cause economic losses. Summary of the invention

[0005] In view of the above problems in the prior art, the present invention provides a large-capacity three-dimensional grape storage and transportation device.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is as follows:

[0007] Provided is a large-capacity three-dimensional grape storage and transportation device, comprising a first mounting frame, a walking mechanism is arranged at the bottom of the first mounting frame, and a storage mechanism is arranged at the front side of the first mounting frame;

[0008] The storage mechanism includes a plurality of storage trays which are overlapped in a vertical direction, one side of the storage tray is connected with a hinge, and the plurality of storage trays are rotatably connected via the hinge. A driving assembly for driving the storage trays to rotate is arranged on the first mounting frame, and the storage trays are driven to rotate sequentially from bottom to top to a staggered state so that grapes can be placed layer by layer.

[0009] Further, a storage groove for accommodating a storage tray and for rotating the storage tray in and out is provided on the front side of the first mounting frame, the hinge portion comprises a mounting ring, a connecting rod is fixedly provided on the mounting ring, the storage tray is fixedly connected to the mounting ring through the connecting rod, a connecting ring is coaxially fixedly provided on the top of the mounting ring, a first ring groove adapted to the connecting ring is provided on the bottom wall of the mounting ring, a second ring groove adapted to the connecting ring is provided on the inner top wall of the storage groove, and a connecting column adapted to the first ring groove on the bottommost mounting ring is provided on the inner bottom wall of the storage groove;

[0010] The driving assembly includes a driving gear, a driving screw, a guide rod and a rotating seat. A rotating seat is rotatably arranged above and below the storage groove. The rotation axis of the rotating seat is colinear with the rotation axis of the hinge part. The guide rod and the driving screw are both arranged between the two rotating seats in parallel with the axis of the hinge part. The two ends of the guide rod are respectively fixedly connected to the two rotating seats, and the two ends of the driving screw are respectively rotatably connected to the two rotating seats. A second driving motor for driving the driving screw to rotate is fixedly arranged on one rotating seat, and a third driving motor for driving the rotating seat to rotate is arranged on the first mounting frame. The driving gear is vertically slidably arranged on the guide rod, and the driving screw passes through the driving gear. The driving screw is threadedly connected to the driving gear, and the inner walls of the mounting ring and the connecting ring are provided with transmission gear rings matching the gear.

[0011] Furthermore, the connecting ring is provided with a limit assembly for limiting the relative rotation between itself and the upper mounting ring, the limit assembly includes a limit pin, the limit pin is radially slidably arranged on the connecting ring, the inner wall of the first ring groove and the inner wall of the second ring groove are provided with limit grooves adapted to the limit pin, at least two limit grooves are circumferentially spaced along the first ring groove, the connecting ring is provided with a second elastic member for driving the limit pin to extend out of the connecting ring and be plugged into the limit groove, and the driving gear is provided with a second electromagnet for driving the limit pin to be magnetically adsorbed so that the limit pin is disengaged from the limit groove.

[0012] Furthermore, it also includes a collecting mechanism arranged on the first mounting frame and located outside the storage mechanism, the collecting mechanism includes a movable arm assembly and a collecting claw, one end of the movable arm assembly is connected to the first mounting frame, and the other end is connected to the collecting claw, and the movable arm assembly is used to drive the collecting claw to move between the storage mechanism and the grapes on the vine rack;

[0013] The movable arm assembly includes a second mounting frame, a third mounting frame and a fourth mounting frame. The second mounting frame is vertically slidably set on the first mounting frame through a linear module. The third mounting frame is horizontally slidably set on the second mounting frame perpendicular to the travel direction of the first mounting frame through a linear module. The fourth mounting frame is slidably set on the third mounting frame parallel to the travel direction of the first mounting frame through a linear module. The collecting claw is set on the fourth mounting frame.

[0014] Furthermore, the collecting claw includes a mounting seat and two mounting rods arranged parallel to the traveling direction of the first mounting frame, the two mounting rods are arranged horizontally at intervals, and a finger cylinder for driving the two mounting rods to synchronously approach / move away is arranged on the mounting seat, and the sides of the two mounting rods close to each other are respectively connected to clamping rods parallel to the mounting rods through a first elastic member, and a cutting knife facing the mounting rod on the other side is arranged on the mounting rod above the clamping rod.

[0015] Furthermore, a receiving seat is arranged on the mounting seat directly below the two mounting rods, and a first placement groove for receiving grapes is arranged on the receiving seat. One side of the first placement groove is opened, and a feeding assembly for feeding grapes out of the first placement groove is arranged on the receiving seat.

[0016] Furthermore, the feeding assembly includes a conveyor belt, two transmission rollers are arranged in parallel to rotate in the first placement groove, a first driving motor for driving any one of the transmission rollers to rotate is arranged on the receiving seat, the conveyor belt is wound around the two transmission rollers, and a polytetrafluoroethylene layer is arranged on the surface of the conveyor belt.

[0017] Furthermore, a plurality of proximity sensors are horizontally arranged on the receiving seat above the conveyor belt, and the proximity sensors are used to detect the approach of grapes and reduce the rising speed of the second mounting rack when the second mounting rack rises and approaches the grapes.

[0018] Furthermore, a material blocking frame is provided on the receiving seat at the discharge end of the feeding assembly, an elastic cloth is provided in the material blocking frame, the top of the material blocking frame is rotatably connected to the mounting seat, and a first electromagnet is provided on the receiving seat, the first electromagnet is used for magnetically adsorbing / repelling the movable end of the material blocking frame.

[0019] Furthermore, a first acquisition camera is arranged on the mounting seat, and the first acquisition camera is used to acquire grape images and identify the fruits and main stems of mature grape bunches. A plurality of second placement slots are arranged in an array on the top of the storage tray, and identification codes are arranged on the side walls of the second placement slots. A second acquisition camera is arranged on the bottom of the receiving seat, and the second acquisition camera is used to acquire and read the identification codes in the second placement slots.

[0020] The beneficial effects of the present invention are as follows: the device drives the first mounting frame to move on the ground by the walking mechanism. After the grapes are harvested, the storage trays in the storage mechanism rotate from bottom to top, and each layer of storage trays rotates out of the storage slot of the first mounting frame in turn. When the storage trays rotate, all the storage trays below the layer rotate synchronously, so that the rotated storage trays remain in a staggered state with the adjacent storage trays, and the grape bunches are stored using the staggered space between the storage trays and the storage trays. The space above the storage tray located on the top layer is open, so it is convenient to put in a complete bunch of grapes. When taking out the grape bunches, the grape bunches on each layer of storage trays are taken out in turn from top to bottom, and the storage trays are rotated into the storage slot in turn. Similarly, when rotating, the storage trays below the layer are kept to rotate synchronously, so that the longitudinal space can be effectively utilized, the maximum effective storage capacity of grapes in the process of storing grapes in a single action is increased, and the grape storage efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the storage tray storage state structure of the three-dimensional storage and transportation device of an embodiment of the present application.

[0022] Figure 2 It is a schematic structural diagram of the storage tray of the three-dimensional storage and transportation device in the embodiment of the present application in the unfolded state.

[0023] Figure 3 for Figure 2 Enlarged schematic diagram of part A.

[0024] Figure 4 This is a schematic diagram of the overall structure of the storage tray according to an embodiment of the present application.

[0025] Figure 5 This is a schematic diagram of the hinge structure of the storage tray in the unfolded state according to an embodiment of the present application.

[0026] Figure 6 for Figure 5 Schematic diagram of the enlarged portion B.

[0027] Among them, 1. first mounting frame; 11. storage slot; 12. connecting column; 13. second ring slot; 2. walking mechanism; 3. storage mechanism; 31. storage tray; 32. hinge; 321. mounting ring; 322. connecting ring; 323. connecting rod; 324. first ring slot; 325. second placement slot; 326. identification code; 33. drive assembly; 331. drive gear; 332. drive screw; 333. guide rod; 334. rotating seat; 335. second drive motor; 336. third drive motor; 337. transmission gear ring; 341. limit pin; 342. second elastic Parts; 4, collecting mechanism; 41, movable arm assembly; 411, second mounting frame; 412, third mounting frame; 413, fourth mounting frame; 42, collecting claw; 421, mounting seat; 422, mounting rod; 423, finger cylinder; 424, clamping rod; 425, first elastic member; 426, cutter; 43, receiving seat; 431, first placement slot; 432, conveyor belt; 433, first driving motor; 434, proximity sensor; 435, material blocking frame; 436, elastic cloth; 437, first electromagnet; 44, first acquisition camera; 45, second acquisition camera. DETAILED DESCRIPTION

[0028] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The embodiment of the present invention provides a large-capacity three-dimensional grape storage and transportation device, referring to Figure 1 and Figure 2The first mounting frame 1 is provided with a running mechanism 2 at the bottom thereof, and the running mechanism 2 enables the first mounting frame 1 to run at least straight on the ground. A storage mechanism 3 is provided at the front side of the first mounting frame 1 for temporarily storing harvested grapes, and a collecting mechanism 4 is provided on the first mounting frame 1 at the outside of the storage mechanism 3 for collecting grapes from the vine rack and placing the grapes into the storage mechanism 3.

[0030] Specifically, the walking mechanism 2 includes rollers rotatably mounted at the four corners of the bottom of the first mounting frame 1 and a driving motor driving the rollers to rotate. The storage mechanism 3 and the collection mechanism 4 are both located on a side wall of the first mounting frame 1 in the horizontal length direction. The rollers are divided into two groups, which are coaxially fixedly connected through two transmission shafts parallel to the horizontal width direction of the first mounting frame 1. The driving motor can be connected to any transmission shaft through a chain or sprocket transmission to drive the rollers to rotate.

[0031] Reference Figure 3 The collecting mechanism 4 includes a movable arm assembly 41 and a collecting claw 42. One end of the movable arm assembly 41 is connected to the first mounting frame 1, and the other end is connected to the collecting claw 42. The movable arm assembly 41 is used to drive the collecting claw 42 to move between the storage mechanism 3 and the grapes on the vine rack. In the embodiment of the present application, the movable arm assembly 41 includes a second mounting frame 411, a third mounting frame 412 and a fourth mounting frame 413. The second mounting frame 411 is driven by a linear module and vertically slidably mounted on the first mounting frame 1. The third mounting frame 412 is driven by a linear module and is perpendicular to the walking direction of the first mounting frame 1, that is, the horizontal width direction of the first mounting frame 1, and is slidably mounted on the second mounting frame 411. The fourth mounting frame 413 is driven by a linear module and is parallel to the walking direction of the first mounting frame 1, that is, the horizontal length direction of the first mounting frame 1. The collecting claw 42 is set on the fourth mounting frame 413. Through the actions of the second mounting frame 411 , the third mounting frame 412 and the fourth mounting frame 413 , the collecting claw 42 can be lifted or lowered, moved forward or backward, or moved left or right relative to the first mounting frame 1 .

[0032] In other embodiments, the movable arm assembly 41 may also be a multi-axis robotic arm that can flexibly control the collection claw 42 to move, rotate, and flip in space.

[0033] In the embodiment of the present application, the collecting claw 42 includes a mounting seat 421 and two mounting rods 422 arranged parallel to the travel direction of the first mounting frame 1. The two mounting rods 422 are arranged horizontally and spaced apart. A finger cylinder 423 is fixedly installed on the mounting seat 421 by bolts. The two mounting rods 422 are respectively predetermined to be connected to the two movable fingers of the finger cylinder 423, thereby driving the two mounting rods 422 to move closer / away synchronously. The sides of the two mounting rods 422 that are close to each other are respectively connected to a clamping rod 424 parallel to the mounting rod 422 through a first elastic member 425. The first elastic member 425 is a spring, and the spring drives the clamping rod 424 and the corresponding mounting rod 422 to move away from each other. In order to enable the clamping rod 424 to move parallel to the mounting rod 422, at least two guide rods are vertically installed on the side of the clamping rod 424 close to the mounting rod 422, and the guide rods are slidably penetrated on the mounting rod 422. The first elastic member 425 is sleeved on the guide rods, thereby improving the installation stability of the first elastic member 425. The end of the guide rod away from the clamping rod 424 passes through the mounting rod 422 and is fixedly connected to a stopper. When the stopper abuts against the mounting rod 422, the first elastic member 425 can be restricted from pushing the clamping rod 424 forward. A cutter 426 is also fixedly installed on the mounting rod 422 above the clamping rod 424, and the blades of the cutters 426 on the two mounting rods 422 face each other and are staggered in the vertical direction. When the clamp rod 424 is at the farthest position away from the mounting rod 422, the blade of the cutter 426 is located between the clamp rod 424 and the mounting rod 422. When the clamp rod 424 is at the closest position to the mounting rod 422, the blade of the cutter 426 is located on the side of the clamp rod 424 away from the mounting rod 422.

[0034] When the finger cylinder 423 moves to bring the two mounting rods 422 closer to each other, the clamping rod 424 first clamps the stem of the grapes. As the two mounting rods 422 continue to approach each other, the clamping rod 424 clamps the stem, and the cutter 426 cuts off the upper part of the clamped stem, thereby obtaining a complete bunch of grapes.

[0035] Reference Figure 4 and Figure 5 The storage mechanism 3 includes a plurality of storage trays 31 which are overlapped in the vertical direction. A storage slot 11 for accommodating the storage trays 31 and for rotating the storage trays 31 in / out is provided on the front side of the first mounting frame 1. A hinge 32 is connected to one side of each storage tray 31. The plurality of storage trays 31 are rotatably connected via the hinge 32. A driving assembly 33 for driving the storage trays 31 to rotate is provided on the first mounting frame 1. The storage trays 31 are driven to rotate from bottom to top in sequence to a staggered state so that grapes can be placed layer by layer.

[0036] Before putting grapes in, multiple storage trays 31 are rotated to the same side so that the storage trays 31 are stored in the storage slots 11 on the first mounting frame 1. When grapes need to be put in, the storage trays 31 are rotated from bottom to top to the staggered state in sequence, and grapes are put in the storage trays 31. When the storage tray 31 is rotated, the other storage trays 31 below the storage tray 31 are kept rotating synchronously so that the rotated storage trays 31 are staggered. The space above the staggered storage trays 31 can be used to provide space for storing grapes. The thickness of the storage tray 31 should be no less than half of the average width of the grape bunches, and no more than the average width of the grape bunches, ensuring that the effective storage height of the storage tray 31 itself combined with the staggered height above can meet the grape storage needs, greatly compressing the space occupied by the storage trays 31 in the stacked state, so that the device can store more grapes in a single operation.

[0037] Reference Figure 6 Specifically, the hinged portion 32 includes a mounting ring 321, a connecting rod 323 is fixedly arranged on the mounting ring 321, the storage tray 31 is fixedly connected to the mounting ring 321 through the connecting rod 323, a connecting ring 322 is coaxially fixedly arranged on the top of the mounting ring 321, a first annular groove 324 adapted to the connecting ring 322 is provided on the bottom wall of the mounting ring 321 and the inner top wall of the storage groove 11, and a connecting column 12 adapted to the first annular groove 324 on the bottom mounting ring 321 is fixed on the inner bottom wall of the storage groove 11. In this way, each storage tray 31 can be overlapped and hingedly connected through the hinged portion 32.

[0038] In the embodiment of the present application, the driving assembly 33 includes a driving gear 331, a driving screw 332, a guide rod 333 and a rotating seat 334. The rotating seats 334 are rotatably mounted above and below the storage slot 11, and the rotation axis of the rotating seat 334 is colinear with the rotation axis of the hinge 32. The guide rod 333 and the driving screw 332 are both arranged between the two rotating seats 334 parallel to the axis of the hinge 32, and the two ends of the guide rod 333 are respectively fixedly connected to the two rotating seats 334, and the two ends of the driving screw 332 are respectively rotatably connected to the two rotating seats 334. A second driving motor 335 is fixedly mounted on any one of the rotating seats 334, and the output shaft of the second driving motor 335 is coaxially fixedly connected to the driving screw 332 through a coupling to drive the driving screw 332 to rotate.

[0039] The driving gear 331 is coaxially arranged between the two rotating seats 334. The guide cylinder and the screw sleeve of the observation gear are fixedly installed on the driving gear 331. The guide rod 333 is coaxially arranged in the guide cylinder. The driving screw 332 is arranged in the screw sleeve and is threadedly matched with the screw sleeve. The second driving motor 335 can drive the driving gear 331 to rise and fall vertically. The third driving motor 336 for driving the rotating seat 334 to rotate is arranged on the first mounting frame 1, and rotates through the rotating seat 334, so that the driving gear 331 rotates together with the rotating seat 334. A transmission toothed ring 337 cooperating with the gear is coaxially fixedly mounted on the inner walls of the mounting ring 321 and the connecting ring 322. The transmission toothed ring 337 inside the mounting ring 321 and the connecting ring 322 is continuous and integrated. The height of the driving gear 331 should be less than the height of the transmission toothed ring 337 in a single hinged part 32, so that the driving gear 331 can be raised and lowered to accurately align and mesh with the transmission toothed ring 337 in a single hinged part 32 to drive the hinged part 32 to rotate. In other embodiments, the driving gear 331 can also use other driving parts with a rotationally symmetrical cross-section, and the transmission toothed ring 337 can also use other transmission parts matching the pattern of the driving part.

[0040] A limit assembly is provided on the connecting ring 322 for limiting the relative rotation between itself and the upper mounting ring 321. Through the limit assembly, when each layer of storage tray 31 is rotated out of the storage slot 11, the limit assembly for limiting the mutual positioning of the storage tray 31 on this layer and the upper storage tray 31 is released, and the limiting effect of the limit assembly of the storage tray 31 below this layer is maintained, so that all the storage trays 31 on this layer and below can be rotated relative to the storage tray 31 above, thereby maintaining the staggered state of the storage trays 31 below that have been rotated.

[0041] Specifically, the limiting assembly includes a limiting pin 341, which is radially slidably arranged on the connecting ring 322 along the connecting ring 322, and a limiting groove adapted to the limiting pin 341 is provided on the inner wall of the first annular groove 324 and the inner wall of the second annular groove 13, and at least two limiting grooves are arranged at intervals along the circumference of the first annular groove 324. In the embodiment of the present application, there are two limiting grooves in both the first annular groove 324 and the second annular groove 13, and when the limiting pin 341 in the hinged portion 32 of the topmost storage tray 31 is aligned with the two limiting grooves in the second annular groove 13, the storage tray 31 is respectively in the state of being in the storage slot 11 and the state of being rotated out of the storage slot 11, and the two limiting grooves in the first annular groove 324 on the storage tray 31 are aligned with the two limiting grooves in the second annular groove 13 on the first mounting frame 1, so that the other storage trays 31 below can maintain the queue stacking. Each time the driving gear 331 rotates and drives the hinge 32 to rotate, the rotation angle is 180 degrees.

[0042] The connecting ring 322 is provided with a second elastic member 342 for driving the limit pin 341 to extend out of the connecting ring 322 and plug into the limit groove. The second elastic member 342 can be a spring. The limit pin 341 is made of a material that can be attracted by magnetic force, and the connecting ring 322 and the mounting ring 321 are both made of a material that cannot be attracted by magnetic force. An electromagnet is provided on the driving gear 331. When the driving gear 331 moves to the corresponding single-layer hinge part 32, the magnetic pole of the electromagnet is aligned with the limit pin 341 in the hinge part 32 of this layer. After the electromagnet is turned on, the limit pin 341 can be magnetically attracted, and the limit pin 341 can be attracted and slid into the connecting ring 322 to disengage the limit pin 341 from the limit groove.

[0043] Furthermore, a receiving seat 43 is fixedly mounted on the mounting seat 421 of the collecting claw 42, and is located directly below the two mounting rods 422. The receiving seat 43 is provided with a first placement groove 431 for placing grapes, and one side of the first placement groove 431 is designed to be open. The receiving seat 43 is provided with a feeding assembly for feeding grapes out of the first placement groove 431. By providing the receiving seat 43 and the placement groove, the grapes can be effectively prevented from falling when the collecting claw 42 cuts off the grape bunch and moves it to the storage mechanism 3, thereby protecting the grapes.

[0044] Specifically, the feeding assembly includes a conveyor belt 432, a first drive motor 433 and two transmission rollers. The two transmission rollers are installed in parallel and rotate in the first placement slot 431, and the axes of the transmission rollers are parallel to the width direction of the side opening of the first placement slot 431. The conveyor belt 432 is wound around the two transmission rollers. The first drive motor 433 is fixed to the outer wall of the receiving seat 43, and the output shaft of the first drive motor 433 is connected to any one of the transmission rollers. The first drive motor 433 drives the upper layer of the conveyor belt 432 in the first placement slot 431 to rotate toward the side opening direction of the first placement slot 431.

[0045] When storing grapes, the collecting claw 42 approaches the grapes from bottom to top, while the conveying belt 432 keeps running. After the conveying belt 432 contacts the grapes, it supports the lower part of the grape bunch, shares the force for the clamping rod 424, and moves the lower part of the grape bunch toward the side opening of the first placement groove 431, thereby ensuring the orientation of each bunch of grapes collected. In the embodiment of the present application, a polytetrafluoroethylene layer is provided on the surface of the conveying belt 432, which can make the surface of the conveying belt 432 smooth, and avoid damage to the grapes when the conveying belt 432 rubs against the grape skin.

[0046] Furthermore, a plurality of proximity sensors 434 are horizontally arranged on the receiving seat 43 above the conveyor belt 432. The proximity sensors 434 are used to sense the distance between the grapes and the receiving seat 43. A computer processor is arranged on the first mounting frame 1. The proximity sensors 434 and the linear modules in the movable arm assembly 41 are both electrically connected to the computer processor. When the second mounting frame 411 is rising, when the proximity sensors 434 detect that the grapes are approaching during the process of approaching the grapes, the computer processor controls to reduce the rising speed of the second mounting frame 411, thereby avoiding high-speed collision between the grapes and the conveyor belt 432, thereby further protecting the grapes.

[0047] Furthermore, a blocking frame 435 is provided on the receiving seat 43 at the discharging end of the feeding assembly, and an elastic cloth 436 is provided inside the blocking frame 435. The top end of the blocking frame 435 is rotatably connected to the mounting seat 421, and a first electromagnet 437 is provided on the receiving seat 43. The first electromagnet 437 is used to magnetically absorb / repel the movable end of the blocking frame 435. By using the blocking frame 435 and the elastic cloth 436, when the first electromagnet 437 magnetically absorbs the movable end of the blocking frame 435, the side opening of the first placement groove 431 can be closed to prevent the grapes from falling out of the side opening of the first placement groove 431 after the grape stems on the clamping rod 424 are loosened. The elastic cloth 436 can provide a buffer margin for movement when the elastic cloth 436 blocks the grapes, thereby protecting the grapes. When the collecting claw 42 moves to the front of the second placement slot 325 on the storage tray 31, the magnetic pole of the first electromagnet 437 is switched to repel the movable end of the blocking frame 435 outwards. Combined with the operation of the conveyor belt 432, the grape bunch can be sent out from the side opening of the first placement slot 431 and placed in the second placement slot 325 on the storage tray 31.

[0048] In the embodiment of the present application, a first acquisition camera 44 is fixedly installed on the top of the mounting base 421. The first acquisition camera 44 is telecommunication-connected to a computer processor. The first acquisition camera 44 is used to acquire grape images. The computer processor uses a trained neural network model to identify ripe grape bunches, as well as the positions of the fruits and main stems of the ripe grape bunches from the grape images, and controls the movable arm assembly 41 to move the collecting claw 42 to the position of the ripe grape bunches to accurately trim the stems of the grape bunches.

[0049] Furthermore, an identification code 326 is provided on the side wall of the second placement slot 325 of the storage tray 31, and a second acquisition camera 45 is provided at the bottom of the receiving seat 43. The second acquisition camera 45 is used to acquire and read the identification code 326 in the second placement slot 325. The second acquisition camera 45 is connected to the computer processor by telecommunication. The identification code 326 may include the number of layers of the storage tray 31 and the position of the second placement slot 325. After the second acquisition camera 45 acquires the image of the storage tray 31 including the identification code 326, the computer processor recognizes each identification code 326 accordingly, and accurately controls the movable arm assembly 41 to move the collection claw 42 to the front of the second placement slot 325 where the grapes need to be placed, thereby realizing the automatic storage function of the grapes. At the same time, the image of the bunch of grapes acquired by the first acquisition camera 44 can also be associated with the identification code 326, and a remote communication function is added to the computer processor, so that the staff can remotely understand the storage status of the grapes in each storage tray 31 from a remote end.

[0050] It should be understood by those skilled in the art that, although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments once those skilled in the art are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A large-capacity three-dimensional grape storage and transportation device, characterized in that: It comprises a first mounting frame (1), a walking mechanism (2) is arranged at the bottom of the first mounting frame (1), and a storage mechanism (3) is arranged at the front side of the first mounting frame (1); The storage mechanism (3) comprises a plurality of storage trays (31) arranged in a vertically overlapping manner, one side of the storage tray (31) is connected to a hinge (32), and the plurality of storage trays (31) are rotatably connected via the hinge (32); a driving assembly (33) for driving the storage trays (31) to rotate is arranged on the first mounting frame (1), and the storage trays (31) are driven to rotate sequentially from bottom to top to a staggered state so that grapes can be placed layer by layer; The front side of the first mounting frame (1) is provided with a storage groove (11) for accommodating a storage tray (31) and for the storage tray (31) to rotate in and out, the hinged portion (32) comprises a mounting ring (321), a connecting rod (323) is fixedly arranged on the mounting ring (321), the storage tray (31) is fixedly connected to the mounting ring (321) via the connecting rod (323), a connecting ring (322) is coaxially fixedly arranged on the top of the mounting ring (321), a first annular groove (324) adapted to the connecting ring (322) is provided on the bottom wall of the mounting ring (321), a second annular groove (13) adapted to the connecting ring (322) is provided on the inner top wall of the storage groove (11), and a connecting column (12) adapted to the first annular groove (324) on the bottommost mounting ring (321) is provided on the inner bottom wall of the storage groove (11); The driving assembly (33) comprises a driving gear (331), a driving screw rod (332), a guide rod (333) and a rotating seat (334); a rotating seat (334) is rotatably arranged above the storage groove (11) and below the storage groove (11); a rotating axis of the rotating seat (334) is colinear with a rotating axis of the hinged portion (32); the guide rod (333) and the driving screw rod (332) are both arranged between the two rotating seats (334) parallel to the axis of the hinged portion (32); two ends of the guide rod (333) are respectively fixedly connected to the two rotating seats (334); two ends of the driving screw rod (332) are respectively fixedly connected to the two rotating seats (334); The rotating seat (334) is rotatably connected, a second driving motor (335) for driving the driving screw rod (332) to rotate is fixedly arranged on the rotating seat (334), a third driving motor (336) for driving the rotating seat (334) to rotate is arranged on the first mounting frame (1), the driving gear (331) is vertically slidably arranged on the guide rod (333), the driving screw rod (332) passes through the driving gear (331), the driving screw rod (332) is threadedly connected to the driving gear (331), and the inner walls of the mounting ring (321) and the connecting ring (322) are both provided with a transmission gear ring (337) that cooperates with the gear; The connecting ring (322) is provided with a limit assembly for limiting the relative rotation between the connecting ring (322) and the upper mounting ring (321), the limit assembly comprising a limit pin (341), the limit pin (341) being radially slidably arranged on the connecting ring (322), the inner wall of the first ring groove (324) and the inner wall of the second ring groove (13) being provided with limit grooves adapted to the limit pin (341), at least two limit grooves being arranged at intervals along the circumference of the first ring groove (324), the connecting ring (322) being provided with a second elastic member (342) for driving the limit pin (341) to extend out of the connecting ring (322) and to be plugged into the limit groove, and the driving gear (331) being provided with a second electromagnet for driving the limit pin (341) to be magnetically attracted so as to disengage the limit pin (341) from the limit groove.

2. The large-capacity three-dimensional grape storage and transportation device according to claim 1, characterized in that: The device further comprises a collecting mechanism (4) arranged on the first mounting frame (1) and located outside the storage mechanism (3); the collecting mechanism (4) comprises a movable arm assembly (41) and a collecting claw (42); one end of the movable arm assembly (41) is connected to the first mounting frame (1), and the other end is connected to the collecting claw (42); the movable arm assembly (41) is used to drive the collecting claw (42) to move between the storage mechanism (3) and the grapes on the vine rack; The movable arm assembly (41) comprises a second mounting frame (411), a third mounting frame (412) and a fourth mounting frame (413); the second mounting frame (411) is vertically slidably arranged on the first mounting frame (1) through a linear module; the third mounting frame (412) is horizontally slidably arranged on the second mounting frame (411) through a linear module perpendicular to the travel direction of the first mounting frame (1); the fourth mounting frame (413) is slidably arranged on the third mounting frame (412) through a linear module parallel to the travel direction of the first mounting frame (1); and the collecting claw (42) is arranged on the fourth mounting frame (413).

3. A large-capacity three-dimensional grape storage and transportation device according to claim 2, characterized in that: The collecting claw (42) comprises a mounting seat (421) and two mounting rods (422) arranged parallel to the travel direction of the first mounting frame (1); the two mounting rods (422) are arranged horizontally and spaced apart; a finger cylinder (423) is arranged on the mounting seat (421) for driving the two mounting rods (422) to move toward / away synchronously; the sides of the two mounting rods (422) that are close to each other are respectively connected to clamping rods (424) parallel to the mounting rods (422) through first elastic members (425); and a cutter (426) facing the mounting rod (422) on the other side is arranged above the clamping rod (424).

4. A large-capacity three-dimensional grape storage and transportation device according to claim 3, characterized in that: A receiving seat (43) is arranged on the mounting seat (421) directly below the two mounting rods (422); the receiving seat (43) is provided with a first placement groove (431) for receiving grapes; one side of the first placement groove (431) is opened; and the receiving seat (43) is provided with a feeding assembly for feeding the grapes out of the first placement groove (431).

5. The large-capacity three-dimensional grape storage and transportation device according to claim 4 is characterized in that: The feeding assembly comprises a conveying belt (432), two transmission rollers are arranged in parallel and rotate in the first placement groove (431), a first driving motor (433) for driving any one of the transmission rollers to rotate is arranged on the receiving seat (43), the conveying belt (432) is wound around the two transmission rollers, and a polytetrafluoroethylene layer is arranged on the surface of the conveying belt (432).

6. A large-capacity three-dimensional grape storage and transportation device according to claim 5, characterized in that: A plurality of proximity sensors (434) are horizontally arranged on the receiving seat (43) above the conveying belt (432), and the proximity sensors (434) are used to detect the approach of grapes and reduce the ascending speed of the second mounting frame (411) when the second mounting frame (411) is ascending and approaching the grapes.

7. The large-capacity three-dimensional grape storage and transportation device according to claim 5, characterized in that: A material blocking frame (435) is arranged on the receiving seat (43) at the material discharging end of the feeding assembly, and an elastic cloth (436) is arranged inside the material blocking frame (435). The top end of the material blocking frame (435) is rotatably connected to the mounting seat (421). A first electromagnet (437) is arranged on the receiving seat (43), and the first electromagnet (437) is used for magnetically attracting / repelling the movable end of the material blocking frame (435).

8. The large-capacity three-dimensional grape storage and transportation device according to claim 5, characterized in that: The mounting seat (421) is provided with a first acquisition camera (44), the first acquisition camera (44) being used to acquire grape images and identify the fruits and main stems of ripe grape bunches; the top array of the storage tray (31) is provided with a plurality of second placement slots (325), the side walls of the second placement slots (325) are provided with identification codes (326); the bottom of the receiving seat (43) is provided with a second acquisition camera (45), the second acquisition camera (45) being used to acquire and read the identification codes (326) in the second placement slots (325).

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