A grape picking, collecting and management device

Abstract

The present invention provides a grape picking, collecting and management device, which relates to the field of grape management equipment. Aiming at the problem that grapes are easily damaged by harvesting equipment during harvesting, which makes them inconvenient for storage and reduces quality, a picking robotic arm is installed on a lifting platform and moves along with a bottom plate mechanism. The end of the picking robotic arm can be equipped with a picking claw mechanism. The scissor mechanism and the temporary storage housing provided in the picking claw mechanism can work together. After supporting the grapes, the scissor mechanism cuts the position of the fruit stalk, simulating manual cutting operation to reduce damage to the grapes. At the same time, the temporary storage housing can move to the position of the lifting platform, and after being opened from the bottom, the grapes are transferred into the storage box on the lifting platform, reducing the damage problem of grapes caused by transportation, and ensuring the harvesting efficiency and quality.

Description

Technical Field

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

[0002] Grape picking, as an important agricultural production link, and the requirements for grape quality are also gradually increasing. The quality of grape output can be improved by improving varieties and increasing maintenance. However, during the picking and transportation processes, due to improper operation or lack of equipment items, it is also easy to damage the grapes and affect the quality of the grapes. Although the traditional manual picking method can ensure the quality of the grapes, the efficiency is relatively low. And the processes of grape harvesting, boxing, sorting, packaging, etc. need to be completed quickly to maintain the freshness of the grapes.

[0003] Chinese Patent (Publication No. CN106385975A) discloses a robotic arm applicable to orchard picking. It adopts a telescopic robotic arm, and a cutting blade and a receiving basket are installed at the top of the robotic arm. The cutting blade cuts the fruit from the root, and the fruit falls into the receiving basket and enters the storage box, realizing the automation of orchard picking. It is applicable to fruits with hard texture, approximately spherical shape and easy to roll, such as apples and pears. However, the whole bunch of grapes is irregular and not easy to roll, and it is difficult to pass through its receiving basket and enter the conveying pipeline for conveying. Moreover, due to the soft texture of the grapes, they are prone to breakage due to collision and friction during the sliding process along the conveying pipeline. The damaged grapes are prone to accelerate spoilage, which is not conducive to ensuring the quality of the grapes. In addition, the grape grains are prone to fall off from the fruit stalk during the conveying process due to external friction, which will also affect the quality of the grapes, resulting in difficulty in improving the grape harvesting efficiency. Summary of the Invention

[0004] The object of the present invention is to address the deficiencies existing in the prior art and provide a grape picking, collecting and management device. The picking robotic arm is installed on the lifting platform and moves along with the bottom plate mechanism. The end of the picking robotic arm can be installed with a picking claw mechanism. The scissor mechanism and the temporary storage housing provided in the picking claw mechanism can work together. After supporting the grapes, they shear the position of the fruit stalk, simulating manual shearing operation to reduce the damage to the grapes. At the same time, the temporary storage housing can move to the position of the lifting platform, and after being opened from the bottom, the grapes are transferred to the storage box on the lifting platform, reducing the problem of grape breakage caused by transportation and ensuring the harvesting efficiency and quality.

[0005] To solve the above problems, the following solutions are adopted:

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

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

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

[0009] The picking claw mechanism includes a scissor mechanism and a temporary storage housing arranged at intervals. The top of the temporary storage housing is open and faces the scissor mechanism, and a opening and closing plate for blocking its opening is provided at the bottom. The picking claw mechanism is detachably connected to the docking part.

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

[0011] Furthermore, the scissor mechanism includes a pair of cutting blades that open and close relative to each other. When the scissor mechanism is open, a channel is formed between the cutting blades for grapes to pass through and fall into the temporary storage housing.

[0012] Furthermore, the cutting blade includes a cutting part and a toothed part. The corresponding cutting parts of a pair of cutting blades form a cutting area, and the corresponding toothed parts of a pair of cutting blades form a cutting-off area.

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

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

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

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

[0017] Furthermore, the storage box is connected with a pulling mechanism, and the pulling mechanism drives the storage box to move relative to the lifting platform, so that a part of the storage box extends out of the lifting platform to open the storage box, or the storage box is retracted into the lifting platform to block the storage box.

[0018] Furthermore, a plurality of storage boxes are provided and are respectively installed on the lifting platform.

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

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

[0021] (1) Aiming at the problem that grapes are easily damaged by harvesting equipment during harvesting, which makes them inconvenient for storage and reduces their quality, a picking robotic arm is installed on a lifting platform and moves along with the bottom plate mechanism. The end of the picking robotic arm can be equipped with a picking claw mechanism. The scissor mechanism and the temporary storage housing set in the picking claw mechanism can work together. After supporting the grapes, they can cut the position of the fruit stalk, simulating manual cutting operations to reduce damage to the grapes. At the same time, the temporary storage housing can move to the position of the lifting platform. After opening from the bottom, the grapes are transferred to the storage box on the lifting platform, reducing the damage to the grapes caused by transportation, and ensuring the harvesting efficiency and quality.

[0022] (2) Use the temporary storage housing to temporarily store the harvested grapes, prevent the grapes from directly falling into the storage box after harvesting, and transfer them to the storage box for storage. The unloading is completed by a falling structure. Compared with the traditional use of a conveying pipeline for falling and rolling material discharge, it can reduce the damage caused by the collision and friction between the grapes and the outer wall of the equipment, reduce the risk of grape grains falling off the fruit stalk, and ensure the quality after harvesting.

[0023] (3) The set sprinkler irrigation mechanism can spray water mist from both sides of the chassis mechanism respectively to complete the sprinkler irrigation process. At the same time, the sprinkler irrigation mechanism can adjust the position of the nozzle at the end of the rocker using a crank-rocker mechanism, changing the sprinkler irrigation coverage range to meet diverse sprinkler irrigation requirements.

[0024] (4) A reagent nozzle is also set on the sprinkler irrigation mechanism. When the lifting platform descends, the reagent nozzle can move with the rocker to the position facing the storage box and spray the reagent on the grapes stored in the storage box to prevent the damaged grapes from further spoiling and extend the preservation period of the grapes.

[0025] (5) A toothed structure is also provided outside the cutting blade of the picking claw to expand the cutting range and facilitate cutting the branches and vines around the grapes, reducing the influence of the branches and vines on grape harvesting. Description of the Drawings

[0026] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0027] Figure 1 It is a schematic diagram of the grape picking, collection and management device in Embodiment 1 of the present invention.

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

[0029] Figure 3 It is a schematic diagram of the triangular crawler in Embodiment 1 of the present invention.

[0030] Figure 4Schematic diagram of the triangular crawler connection chassis mechanism in Embodiment 1 of the present invention.

[0031] Figure 5 Schematic diagram of the picking robotic arm mechanism in Embodiment 1 of the present invention.

[0032] Figure 6 Schematic diagram of the picking claw mechanism in Embodiment 1 of the present invention.

[0033] Figure 7 Schematic diagram of the lifting platform mechanism in Embodiment 1 of the present invention.

[0034] Figure 8 Schematic diagram of the structure of the sprinkler irrigation mechanism in Embodiment 1 of the present invention.

[0035] Figure 9 Schematic diagram of the soil loosening mechanism in Embodiment 1 of the present invention.

[0036] Figure 10 Schematic diagram of the docking part in Embodiment 1 of the present invention.

[0037] Figure 11 Schematic diagram of the storage box in Embodiment 1 of the present invention.

[0038] Figure 12 Schematic diagram of the shearing robotic claw in Embodiment 1 of the present invention.

[0039] Figure 13 Schematic diagram of the side view of the grape picking, collecting and management device in Embodiment 1 of the present invention.

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

[0041] Embodiment 1

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

[0043] Traditional picking methods or some simple mechanized picking equipment often cause certain damage to grapes, such as pinching and scratching, due to improper operation or technical limitations, affecting the appearance and quality of grapes. During the transfer of picked grapes to storage or packaging equipment, they are prone to breakage due to vibration, collision, etc., resulting in waste of grapes and deterioration of quality. Based on this, this embodiment provides a grape picking, collection and management device, which reduces the damage to grapes during picking by simulating manual shearing operations, and reduces the breakage of grapes during transfer through the docking of the temporary storage shell 30 and the lifting platform storage box; at the same time, the device also has good adaptability and flexibility, and can adapt to the picking needs of different terrains and grape tree heights. It jointly solves the technical problems such as efficiency, quality and transfer breakage existing in the grape picking process.

[0044] As Figure 1 shown, the grape picking, collection and management device mainly includes a chassis mechanism, a lifting platform mechanism, a picking robotic arm mechanism, a picking claw mechanism, an irrigation mechanism and a cutting claw mechanism. The chassis mechanism serves as the support and moving foundation of the entire device, and the chassis mechanism bears the lifting platform mechanism, the picking robotic arm mechanism and the irrigation mechanism. The chassis mechanism includes at least two sets of crawler mechanisms, and one set of crawler mechanisms is a triangular crawler 1 fixed by a fixed outer plate 7, so as to move flexibly on different terrains and adapt to the picking needs of different vineyards.

[0045] The top of the lifting platform mechanism is provided with a lifting platform. A storage box is slidably installed on the bottom surface of the lifting platform. The picking robotic arm mechanism is installed on the lifting platform. A docking part is provided at the end of the picking robotic arm. The lifting platform mechanism adjusts the height of the picking robotic arm through lifting movement to adapt to grape trees of different heights.

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

[0047] As Figure 5 shown, the picking robotic arm mechanism can simulate the movements of an arm and control the picking claw mechanism to reach a specified position for picking. The picking robotic arm mechanism is installed on the lifting platform. A jaw quick-release plate 59 is provided at the end of the picking robotic arm mechanism for quickly connecting and separating from the picking claw mechanism, facilitating replacement or maintenance.

[0048] As Figure 6As shown, the picking claw mechanism can achieve the functions of supporting, cutting, and temporarily storing grapes. The picking claw mechanism includes a scissors mechanism and a temporary storage housing arranged at intervals. A pair of symmetrically distributed blades are fixed to the top of the temporary storage mechanism through a connecting member. The top of the temporary storage housing is open and faces the scissors mechanism. The scissors mechanism is responsible for cutting the grape stalks, and the temporary storage housing is used to collect the cut grapes to reduce dropping damage.

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

[0050] The picking claw mechanism is detachably connected to the picking robotic arm mechanism through the scissors mounting plate 103, which is convenient for replacing different types of picking claw mechanisms according to picking requirements. At the same time, the picking claw mechanism can also be replaced with other functional components, such as a cutting robotic claw, etc.

[0051] As Figure 8 shown, the sprinkler irrigation mechanism can provide necessary water for grapevines and spray a fresh-keeping reagent into the grapes in the storage box to improve the quality of grapes and extend the fresh-keeping period. Specifically, the sprinkler irrigation mechanism is installed on the chassis mechanism. The sprinkler irrigation mechanism includes a water sprinkler head 70 facing the outside of the chassis mechanism and a reagent sprinkler head 70 facing the storage box. The water sprinkler head faces the outside of the chassis mechanism and is used for irrigating grapevines. The reagent sprinkler head faces the storage box and can spray a fresh-keeping reagent after the grapes are collected to keep the grapes fresh.

[0052] Adopting the seamless docking method between the temporary storage shell 30 and the storage box of the lifting platform, simulating manual cutting operations, reduces the damage to grapes during the picking process. Utilizing the mobility of the chassis mechanism and the adjustability of the lifting platform mechanism, the device can adapt to the picking requirements of different terrains and grapevine heights, improving the utilization rate and economic benefits of the equipment. The sprinkler irrigation mechanism also improves the quality and fresh-keeping period of grapes.

[0053] As Figure 2 、 Figure 3 shown, the chassis mechanism is driven by a driving motor 16 fixed through a motor fixing member 17 to drive a driving wheel 9 to rotate, thereby driving a synchronous belt 10 to achieve the rotation of a first driven wheel 2, a second driven wheel 11, and a third driven wheel 12. As Figure 4As shown, a motor mounting plate 13 is provided on the vehicle frame 8. The motor mounting plate 13 is mounted on the main body of the chassis mechanism through the second fixing screw 15. The driving motor is mounted on the motor mounting plate 13 through the motor fixing member 51 in cooperation with the third fixing screw 18 and the motor fixing screw 14. The crawler 3 is mounted on the main body of the chassis mechanism through the first fixing screw 4. The crawler 3 can provide a larger contact area and reduce the pressure on the ground. Combining various crawler mechanisms such as the triangular crawler 1 and the crawler 3 can improve the adaptability and mobility of the vehicle body, thereby reducing the damage to grapevines and soil. The first idler wheel 5 and the second idler wheel 6 have strong load-bearing capacity and can support the weight of the vehicle body, enhancing the stability. The crawler mechanism enables the robot to adapt to the complex terrain of grape cultivation and enhances the stability of the vehicle body.

[0054] As Figure 7 shown, the lifting platform mechanism is driven by three motors, namely the driving platform first motor 102, the driving platform second motor 79, and the driving platform third motor 82. The driving platform second motor 79 is fixed to the lower mounting plate 81 of the lifting platform through the driving platform motor bracket 80. The three motors rotate to adapt to different height requirements. While having a simple structure, it can realize the lifting of the manipulator. The output ends of the driving platform first motor 102, the driving platform second motor 79, and the driving platform third motor 82 are respectively connected with a fourth connecting rod 78. The fourth connecting rod 78 is rotatably connected to the third connecting rod 76 through the second bearing 77. One end of the third connecting rod 76 is mounted on the upper mounting plate 73 of the lifting platform through the first adapter 75 and the first bearing 74. The support between the motor and the upper mounting plate 73 of the lifting platform is established by the third connecting rod 76 and the fourth connecting rod 78. The first bearing 74 and the second bearing 77 convert the rotational motion of the motor into lifting motion and front-back, left-right movement. The drive system can provide stable power output, ensuring the flexibility and accuracy of the manipulator during the picking process, which is crucial for adapting to grape clusters with different height distributions in the vineyard.

[0055] As Figure 5As shown, a storage mechanism is equipped at the bottom of the lifting platform. The storage mechanism includes a storage box and a pulling mechanism connected thereto. The pulling mechanism drives the storage box to move relative to the lifting platform, so that a part of the storage box extends out of the lifting platform to open the storage box, or the storage box is retracted into the lifting platform to block the storage box, which is used to temporarily store the picked grapes. A storage box housing 86 is installed at the bottom of the lifting platform. The storage box housing 86 is in a concave shape. After the storage box housing 86 is installed on the bottom surface of the lifting platform, a slideway for accommodating the storage box is formed. The storage box is slidably installed in the slideway formed by the storage box housing 86. The rear side of the storage box is the storage box rear plate 86, which is used to connect the pulling mechanism. The pulling mechanism can adopt a first cylinder 83. The first cylinder 83 is fixed to the storage box rear plate 86 through a cylinder mounting plate 84. The storage mechanism can eject the storage box rear plate 86 through the first cylinder 83 and move back and forth along the storage box housing 88. It may also have a certain capacity and protection measures to ensure the safety and freshness of the grapes during the waiting period for packing. The translation function enables the storage mechanism to improve the operation efficiency, facilitate subsequent packing, and at the same time can shade the already collected mechanism, ensuring the freshness of the grapes.

[0056] In other alternative embodiments, multiple storage boxes are provided and are respectively installed on the lifting platform.

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

[0058] As Figure 10 shown, the docking part can adopt a jaw quick-release plate 59. The picking jaw mechanism and the shearing robotic jaw structure located at the top of the robotic arm can be replaced through the quick-release plate, and can work to adapt to different growth stages of the grapes. The picking jaw mechanism is used for picking ripe grapes, while the cutting blades of the shearing robotic jaw are used for necessary pruning work at the initial stage of grape fruiting to promote the healthy growth of the grapes. The quick-release plate enables the picking jaw mechanism and the shearing robotic jaw to be quickly replaced. They are connected through the mounting holes 71 and the jaw fixing plate 58. The operator can easily switch different tool heads according to needs to adapt to different task requirements.

[0059] AsFigure 6 As shown, above the picking claw mechanism is the scissor mechanism. The top of the temporary storage housing is open and faces the scissor mechanism, and the bottom is provided with an opening and closing plate for blocking its opening. The opening and closing plate is controlled by the first connecting rod 38. The first connecting rod 38 is connected to the opening and closing plate servo through the second connecting rod 89. The opening and closing plate servo is installed on the opening and closing plate servo mounting bracket 90 through the servo bottom plate. The opening and closing plate servo mounting bracket 90 is installed on the quick-release plate. The scissor mechanism is connected with a scissor servo 29, and the scissor servo 29 drives the opening and closing of the scissor mechanism. The scissor servo 29 is fixed on the quick-release plate through the scissor servo mounting bracket 28.

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

[0061] The cutting blades include a cutting part and a toothed part. The corresponding cutting parts of a pair of cutting blades form a cutting area for cutting off the fruit stalks of the grapes, and the corresponding toothed parts of a pair of cutting blades form a cutting-off area for cutting off the vines within the range of the scissor mechanism.

[0062] It can better protect the integrity of the grapes than the traditional clamping mechanism. The bottom plate 34 of the temporary storage device can achieve the temporary storage after grape picking, reduce the damage to the grapes during the picking process, and ensure the whole fruit rate of the grapes.

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

[0064] As Figure 8 、 Figure 13As shown in the figure, the sprinkler irrigation mechanism adopts a crank-rocker mechanism. The sprinkler irrigation mechanism also includes a crank-rocker mechanism and a container. The frame of the crank-rocker mechanism is arranged on the chassis mechanism. The sprinkler head and the reagent spray head are respectively installed on the rocker of the crank-rocker mechanism and are located on the opposite sides of the rocker. The sprinkler head and the reagent spray head are respectively connected to the corresponding containers through pipelines. The driving crank motor 63 drives the first connecting rod 64 to rotate, which drives the second connecting rod 65 and then drives the third connecting rod 67 to swing. The connecting rods are fixed through the fixing plate 66. The spray head 70 is installed on the rocker through the spray head fixing part 69 to facilitate watering and irrigate the grapes. The crank-rocker mechanism can achieve large-area uniform irrigation. By adjusting the length of the crank and the swing amplitude of the rocker, the movement trajectory and the watering range of the spray head can be changed to adapt to the irrigation needs of different vineyards. The entire system can be adjusted regularly and quantitatively through the electrical control unit to reduce manual intervention. Moreover, the crank-rocker mechanism has a simple structure and fewer components, so maintenance and repair are relatively easy.

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

[0066] It should be noted that in this embodiment, the sprayed reagent is a reagent that does not affect human safety, such as natamycin antibacterial solution, which can effectively inhibit mold and yeast and is a natural and efficient biological preservative. An edible fruit preservative can also be used, which is compounded and prepared from granulated sugar, starch, fatty acid and polyester substances. It can be sprayed, soaked and smeared on the surface of the grapes to form a film to prevent oxygen from entering, inhibit the respiration effect and play a role in extending the shelf life.

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

[0068] Working principle: As Figure 13As shown, the chassis mechanism is driven by the drive motor 16 to rotate the drive wheel 9, which in turn drives the first driven wheel 2, the second driven wheel 11, and the third driven wheel 12 to rotate. The rotation of the first driven wheel drives the triangular crawler 1 to move, thereby driving the crawler 3 to move. The first idler wheel 5 and the second idler wheel 6 bear the weight. The drive motor 16 is fixed by the motor mounting plate 13, the motor fixing screw 14, the second fixing screw 15, the motor fixing part 51, and the third fixing screw 18. The lifting platform mechanism is driven by three motors, namely the drive platform first motor, the drive platform second motor, and the drive platform motor, which are fixed on the drive platform motor bracket 80, causing the fourth connecting rod 78 to rotate and drive the bearing to rotate, and then the third connecting rod 76 to rotate, controlling the lifting of the mounting plate 73 on the lifting platform through the first adapter 75. The storage mechanism at the top of the lifting platform ejects the storage box rear plate 86 fixed by the storage box fixing part 87 through the first cylinder 83 fixed by the cylinder mounting plate 84, and moves back and forth along the storage box housing 88. The storage box bottom plate 85 gives it a certain capacity and protection measures. The picking robotic arm mechanism is fixed on the robotic arm platform 19. The multi-joint design with the first joint 60, the second joint 23, and the third joint 25 enables the robotic arm to have multiple rotation points, and realizes translational motion through the lead screw, coupling, and slider. The mechanical sub-arm 57 drives the jaw fixing plate 58 to rotate; the jaw quick-release plate 59 can replace the cutter head through the mounting hole 71 and the jaw fixing plate 58. The connecting plate 27 on the picking jaw mechanism is used to connect the robotic arm. The servo controls the scissor mechanism on the first picking tool 31 and the second picking tool 37. The first cutting blade 32 and the second cutting blade 35 are used to precisely cut the grape stalks. The servo mounting bracket and the servo floor below fix the servo and connect the connecting rod to control the opening and closing of the opening and closing plate and the opening and closing piece 36, and the temporary storage device bottom plate fixes and protects the grapes. The sprinkler irrigation mechanism increases the pressure in the water tank 68 by the air pump 61 fixed by the air pump fixing part 62, connects the water tank to the nozzle 70, drives the crank motor to drive the first connecting rod 64 to rotate, which drives the second connecting rod 65 and then drives the third connecting rod 67 to swing. The nozzle 70 is installed on the rocker to sprinkle water, and is fixed to the vehicle body by the nozzle fixing part 69.

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

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

Claims

1. A grape picking, collecting and managing device, characterized in that: include: The chassis mechanism is equipped with a lifting platform mechanism, a lifting platform is provided on the top of the lifting platform mechanism, and a storage box is slidably installed on the bottom surface of the lifting platform; The picking mechanical arm mechanism is installed on the lifting platform, and a docking part is provided at the end of the picking mechanical arm; The picking claw mechanism comprises a scissor mechanism and a temporary storage shell arranged at intervals, the top of the temporary storage shell is open and faces the scissor mechanism, and the bottom is provided with an opening and closing plate to block the opening; the picking claw mechanism is detachably connected to the docking part; The sprinkler mechanism is installed on the chassis mechanism, and includes a water sprinkler head facing the outside of the chassis mechanism and a reagent sprinkler head facing the storage box; When the picking claw mechanism moves to the lifting platform position, the opening and closing plate opens, and the grapes fall into the storage box, achieving lossless transportation; The sprinkler mechanism also includes a crank rocker mechanism and a container. The frame of the crank rocker mechanism is arranged on the chassis mechanism. The sprinkler nozzle and the reagent nozzle are respectively installed on the rocker of the crank rocker mechanism and are located on the opposite sides of the rocker. The sprinkler nozzle and the reagent nozzle are respectively connected to the corresponding container through pipelines. Sprinkler mechanisms are respectively arranged on both sides of the chassis mechanism, and the lifting platform mechanism is located between the sprinkler mechanisms on both sides. When the spray tank mechanism and the lifting platform mechanism are controlled, the spraying range of the reagent spray head can cover the storage box.

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

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

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

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

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

7. The grape picking, collecting and managing device according to claim 6, characterized in that: There are multiple storage boxes, which are respectively installed on the lifting platform.

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

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