Grape three-dimensional cultivation and efficient picking integrated device

Abstract

The utility model relates to the technical field of grape cultivation and picking, and discloses a grape three-dimensional cultivation and efficient picking integrated device which comprises a machine box, the upper surface of the machine box is rotationally connected with a rotating table, the outer portion of the rotating table is fixedly connected with a first motor, and the output end of the first motor is provided with a first mechanical arm. And a supporting table is fixedly connected to one end of the second mechanical arm, a first electric push rod is fixedly connected to the lower surface of the supporting table, a cutting assembly is arranged at the output end of the first electric push rod, and a cutter is fixedly connected to the exterior of the cutting assembly. According to the picking device, the first electric push rod drives the push plate to move, the rotating plate drives the first rotating rod to rotate, meanwhile, the servo motor can be adopted to drive the first gear rod to rotate, the first gear rod and the second gear rod are in meshing transmission, the cutter is opened and closed, and then the effect of improving the picking efficiency and quality can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of grape cultivation and picking, in particular to a device integrating three-dimensional grape cultivation and efficient picking. Background Art

[0002] Three-dimensional grape cultivation relies on vertical space resources and constructs a three-dimensional planting system through customized frame types, directional pruning technology, and water and fertilizer management. Although three-dimensional cultivation improves space utilization, the multi-layered and high-drop structure makes it easy to miss fruits during thinning, pruning, and picking. Therefore, the use of efficient integrated picking devices plays an important role.

[0003] Traditional grape picking relies on manual picking, and the squeezing and tearing of grapes by fingers during manual picking can easily damage the grape skin, thereby affecting the picking quality and making it difficult to meet the efficiency requirements of large-scale picking. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides an integrated device for three-dimensional grape cultivation and efficient picking, aiming to improve the problem that traditional grape picking relies on manual picking, which affects the picking quality and is difficult to meet the efficiency requirements of large-scale picking.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A device for integrating three-dimensional cultivation and efficient grape picking includes a chassis, the upper surface of which is rotatably connected to a rotating table, the outside of which is fixedly connected to a first motor, an output end of the first motor is provided with a first mechanical arm, the other end of the rotating table is fixedly connected to a second motor, an output end of the second motor is provided with a connecting rod, one end of the connecting rod is provided with a second mechanical arm, one end of the second mechanical arm is fixedly connected to a support platform, a lower surface of the support platform is fixedly connected to a first electric push rod, the output end of the first electric push rod is provided with a cutting assembly, and the outside of the cutting assembly is fixedly connected to a cutting knife.

[0007] Through the above technical solution: the rotating table can rotate horizontally relative to the chassis, and the first robotic arm driven by the first motor and the second robotic arm driven by the second motor through the connecting rod can move in coordination, which can flexibly adjust the spatial position of the working end. The first electric push rod drives the cutting assembly to move, driving the cutting knife to accurately cut the grape stems, thereby realizing automated picking operations.

[0008] Preferably, the cutting assembly includes a push plate, the interior of the push plate is arranged at the output end of the first electric push rod, both ends of the push plate are rotatably connected to a rotating plate, the outside of the rotating plate is rotatably connected to the first rotating rod, and the outside of the cutting knife is fixedly connected to the outside of the first rotating rod.

[0009] Preferably, the cutting assembly also includes a base, the upper surface of the base is fixedly connected to the lower surface of the support platform, the interior of the base is fixedly connected to a servo motor, the output end of the servo motor is connected to a first gear rod, the first gear rod and the second gear rod are externally rotatably connected to a second rotating rod, the lower surface of the base is rotatably connected to a support rod, the outside of the cutting knife is fixedly connected to the outside of one end of the second rotating rod, and the outside of the support rod is rotatably connected to the lower surface of the second rotating rod.

[0010] Preferably, the outside of the chassis is fixedly connected to a support base, a positioning assembly is provided inside the support base, and a universal wheel is fixedly connected to the lower surface of the chassis.

[0011] Preferably, the positioning assembly includes a second electric push rod, one end of which is externally arranged inside the support seat, and a support plate is provided at the output end of the second electric push rod. A positioning plate is fixedly connected to the lower surface of one side of the support plate, and the other end of the support plate is externally rotatably connected to the inside of the support seat.

[0012] Preferably, a spring is provided on the outside of the positioning plate, and the other end of the spring is provided on the outside of the support plate.

[0013] Preferably, one end of the second robotic arm is externally rotatably connected to the inside of the other end of the first robotic arm.

[0014] Preferably, one end of the first rotating rod is rotatably connected to the outside of the first electric push rod.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the utility model, the first electric push rod drives the push plate to move, and the push plate drives the first rotating rod to rotate through the rotating plates at both ends, and drives the cutting knife to open and close. At the same time, a servo motor can be used to drive the first gear rod to rotate. The first gear rod and the second gear rod are engaged and driven to drive the second rotating rod to move. The cutting knife is closed as the second rotating rod rotates, thereby achieving the effect of improving the efficiency and quality of picking.

[0017] 2. In the present invention, the second electric push rod pushes the support plate to rotate downward with the rotating structure of the support seat, so that the positioning plate contacts the ground. The spring produces elastic deformation during the contact process, buffering the rigid collision between the positioning plate and the ground, ensuring that the device is stably fixed, thereby achieving the effect of enhancing the stability of the device during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the integrated device for three-dimensional cultivation and efficient picking of grapes proposed in the present invention;

[0019] Figure 2 This is a partial structural diagram of the rotating platform of the integrated device for three-dimensional grape cultivation and efficient picking proposed by the present invention;

[0020] Figure 3 This is a partial structural diagram of the first rotating rod of the integrated device for three-dimensional grape cultivation and efficient picking proposed by the present invention;

[0021] Figure 4 This is a partial structural diagram of the support platform of the integrated device for three-dimensional grape cultivation and efficient picking proposed by the present invention;

[0022] Figure 5 This is a schematic diagram of the partial structure of the positioning plate of the integrated device for three-dimensional grape cultivation and efficient picking proposed by the present invention.

[0023] Legend:

[0024] 1. Chassis; 2. Turntable; 3. First motor; 4. First robotic arm; 5. Second motor; 6. Connecting rod; 7. Second robotic arm; 8. Support platform; 9. First electric push rod; 10. Cutting assembly; 101. Push plate; 102. Turntable; 103. First rotating rod; 104. Base; 105. Servo motor; 106. First gear rod; 107. Second gear rod; 108. Second rotating rod; 109. Support rod; 11. Cutting blade; 12. Support seat; 13. Positioning assembly; 131. Second electric push rod; 132. Support plate; 133. Positioning plate; 134. Spring; 14. Universal wheel. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings of the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Example 1:

[0027] Reference Figure 1-Figure 3The utility model provides an embodiment: an integrated device for three-dimensional cultivation and efficient picking of grapes, comprising a chassis 1, the upper surface of the chassis 1 is rotatably connected to a rotating platform 2, the outside of the rotating platform 2 is fixedly connected to a first motor 3, the output end of the first motor 3 is provided with a first mechanical arm 4, the other end of the rotating platform 2 is fixedly connected to a second motor 5, the output end of the second motor 5 is provided with a connecting rod 6, one end of the connecting rod 6 is provided with a second mechanical arm 7, one end of the second mechanical arm 7 is fixedly connected to a support platform 8, the lower surface of the support platform 8 is fixedly connected to a first electric push rod 9, the output end of the first electric push rod 9 is provided with a cutting assembly 10, and the outside of the cutting assembly 10 is fixedly connected to a cutting knife 11;

[0028] Specifically, the chassis 1 is the overall structure of the device, and the rotating table 2 can rotate relative to the upper surface of the chassis 1 to achieve horizontal rotation adjustment to expand the operating coverage. The first motor 3 drives the first robotic arm 4 to rotate to achieve angle adjustment of the first robotic arm 4; the second motor 5 drives the second robotic arm 7 to rotate through the connecting rod 6, so that the second robotic arm 7 can move relative to the first robotic arm 4. Through the coordinated rotation of the first robotic arm 4 and the second robotic arm 7, the position adjustment of the operating end is achieved. The support platform 8 is used to fix the first electric push rod 9 and the cutting assembly 10. The output end of the first electric push rod 9 is connected to the cutting assembly 10, which can be used as a power source to drive the cutting knife 11 to move. The cutting knife 11 is used to cut the fruit stems to complete the grape bunch picking operation.

[0029] Reference Figure 2-Figure 4 The cutting assembly 10 includes a push plate 101. The interior of the push plate 101 is arranged at the output end of the first electric push rod 9. Both ends of the push plate 101 are rotatably connected to a rotating plate 102. The exterior of the rotating plate 102 is rotatably connected to a first rotating rod 103. The exterior of the cutting blade 11 is fixedly connected to the exterior of the first rotating rod 103.

[0030] Specifically, in this embodiment, the push plate 101 is connected to the output end of the first electric push rod 9 and can move in a straight line direction under the drive of the first electric push rod 9. The rotating plates 102 at both ends of the push plate 101 are respectively connected to the push plate 101 and the first rotating rod 103. When the push plate 101 moves, the first rotating rod 103 is driven to rotate by the rotating plate 102. Since the cutting knife 11 is fixed to the outside of the first rotating rod 103, the rotation of the first rotating rod 103 can drive the cutting knife 11 to open and close, thereby realizing the cutting action of the grape stems.

[0031] Example 2:

[0032] Reference Figure 4The cutting assembly 10 also includes a base 104, the upper surface of the base 104 is fixedly connected to the lower surface of the support platform 8, the interior of the base 104 is fixedly connected to a servo motor 105, the output end of the servo motor 105 is connected to a first gear rod 106, the first gear rod 106 and the second gear rod 107 are externally rotatably connected to a second rotating rod 108, the lower surface of the base 104 is rotatably connected to a support rod 109, the outside of the cutting blade 11 is fixedly connected to the outside of one end of the second rotating rod 108, and the outside of the support rod 109 is rotatably connected to the lower surface of the second rotating rod 108;

[0033] Specifically, in this embodiment, the base 104 is used to fix the servo motor 105, and the output end of the servo motor 105 drives the first gear rod 106 to rotate. The first gear rod 106 and the second gear rod 107 are engaged and transmitted to drive the second rotating rod 108 to move. One end of the support rod 109 is rotatably connected to the lower surface of the base 104, and the other end is rotatably connected to the lower surface of the second rotating rod 108, which supports and limits the second rotating rod 108. The cutting knife 11 is fixed to the outside of one end of the second rotating rod 108, and the angle is adjusted with the movement of the second rotating rod 108 to complete the cutting operation of the grape stems, thereby achieving the effect of automatically cutting the grapes and continuing to pick them, thereby improving the efficiency and quality of picking.

[0034] Example 3:

[0035] Reference Figure 4 and Figure 5 Based on the above embodiment, this embodiment is used to solve the problem that the grapes are easily shaken during picking, resulting in picking errors and damage to the grapes, and this is achieved through the following solution.

[0036] The outside of the chassis 1 is fixedly connected to a support base 12, a positioning assembly 13 is provided inside the support base 12, and a universal wheel 14 is fixedly connected to the lower surface of the chassis 1; the positioning assembly 13 includes a second electric push rod 131, one end of the second electric push rod 131 is externally disposed inside the support base 12, and an output end of the second electric push rod 131 is provided with a support plate 132, a lower surface of one side of the support plate 132 is fixedly connected to a positioning plate 133, and the other end of the support plate 132 is externally rotatably connected to the inside of the support base 12; a spring 134 is provided on the outside of the positioning plate 133, and the other end of the spring 134 is disposed on the outside of the support plate 132;

[0037] Specifically, the support base 12 provides a mounting carrier for the positioning assembly 13, and the universal wheels 14 on the lower surface of the chassis 1 are used to achieve the movement of the entire device, facilitating the adjustment of the operating position. In the positioning assembly 13, the output end of the second electric push rod 131 is connected to the support plate 132, driving the support plate 132 to rotate with the support base 12 as the rotation support structure. The positioning plate 133 on the lower surface of one side of the support plate 132 contacts the ground as the support plate 132 rotates, achieving the positioning and fixation of the device. One end of the spring 134 outside the positioning plate 133 is connected to the positioning plate 133, and the other end is connected to the support plate 132. It can provide a buffer when the positioning plate 133 contacts the support surface, thereby avoiding unstable positioning caused by uneven ground and enhancing the stability of the device during operation.

[0038] Reference Figure 1-Figure 3 , one end of the second robotic arm 7 is externally rotatably connected to the other end of the first robotic arm 4; one end of the first rotating rod 103 is rotatably connected to the outside of the first electric push rod 9;

[0039] Specifically, the second robotic arm 7 cooperates with the first robotic arm 4 to support the rotation of the second robotic arm 7. When the first electric push rod 9 drives the push plate 101 to move, the rotating plate 102 drives the first rotating rod 103 to move, ensuring that it can stably drive the cutting knife 11 to complete the opening and closing action.

[0040] Working Principle: When the integrated device for three-dimensional grape cultivation and efficient picking is needed, the device is first moved to the target operating position in the three-dimensional grape cultivation area via the universal wheels 14 on the lower surface of the chassis 1. Then, the second electric push rod 131 pushes the support plate 132 to rotate downward with the rotating structure of the support base 12, causing the positioning plate 133 to contact the ground. The spring 134 generates elastic deformation during the contact process, buffering the rigid collision between the positioning plate 133 and the ground, ensuring the stable fixation of the device, thereby achieving the effect of enhancing the stability of the device during operation.

[0041] Next, the rotating table 2 rotates relative to the upper surface of the chassis 1, and at the same time, the first motor 3 drives the first mechanical arm 4 to rotate, and the second motor 5 drives the second mechanical arm 7 to rotate through the connecting rod 6, so that the support platform 8 and the cutting assembly 10 below are adjusted to the corresponding height and horizontal position of the target grape bunch, so that the cutting knife 11 is aligned with the stem of the grape bunch; after that, the first electric push rod 9 drives the push plate 101 to move, and the push plate 101 drives the first rotating rod 103 to rotate around the outside of the first electric push rod 9 through the rotating plates 102 at both ends, and drives the cutting knife 11 to open and close. At the same time, the servo motor 105 can also be used to drive the first gear rod 106 to rotate. The first gear rod 106 and the second gear rod 107 are engaged and driven to drive the second rotating rod 108 to move under the support of the support rod 109. The cutting knife 11 is closed as the second rotating rod 108 rotates, cutting the stem and completing the picking of the grape bunch, thereby improving the efficiency and quality of picking.

[0042] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An integrated device for three-dimensional grape cultivation and efficient picking, comprising a chassis (1), characterized in that: The upper surface of the chassis (1) is rotatably connected to a rotating table (2), the outside of the rotating table (2) is fixedly connected to a first motor (3), the output end of the first motor (3) is provided with a first mechanical arm (4), the other end of the rotating table (2) is fixedly connected to a second motor (5), the output end of the second motor (5) is provided with a connecting rod (6), one end of the connecting rod (6) is provided with a second mechanical arm (7), one end of the second mechanical arm (7) is fixedly connected to a support table (8), the lower surface of the support table (8) is fixedly connected to a first electric push rod (9), the output end of the first electric push rod (9) is provided with a cutting assembly (10), and the outside of the cutting assembly (10) is fixedly connected to a cutting knife (11); The cutting assembly (10) includes a push plate (101), the interior of the push plate (101) is arranged at the output end of the first electric push rod (9), both ends of the push plate (101) are rotatably connected to a rotating plate (102), the exterior of the rotating plate (102) is rotatably connected to a first rotating rod (103), and the exterior of the cutting knife (11) is fixedly connected to the exterior of the first rotating rod (103); The cutting assembly (10) further comprises a base (104), the upper surface of the base (104) being fixedly connected to the lower surface of the support platform (8), the interior of the base (104) being fixedly connected to a servo motor (105), the output end of the servo motor (105) being connected to a first gear rod (106), the exterior of the first gear rod (106) and the second gear rod (107) being rotatably connected to a second rotating rod (108), the lower surface of the base (104) being rotatably connected to a support rod (109), the exterior of the cutting blade (11) being fixedly connected to the exterior of one end of the second rotating rod (108), and the exterior of the support rod (109) being rotatably connected to the lower surface of the second rotating rod (108).

2. The integrated device for three-dimensional grape cultivation and efficient picking according to claim 1, characterized in that: The outside of the chassis (1) is fixedly connected to a support base (12), a positioning assembly (13) is provided inside the support base (12), and the lower surface of the chassis (1) is fixedly connected to a universal wheel (14).

3. The integrated device for three-dimensional grape cultivation and efficient picking according to claim 2, characterized in that: The positioning assembly (13) includes a second electric push rod (131), one end of the second electric push rod (131) is externally arranged inside the support seat (12), the output end of the second electric push rod (131) is provided with a support plate (132), a lower surface of one side of the support plate (132) is fixedly connected to a positioning plate (133), and the other end of the support plate (132) is externally rotatably connected to the inside of the support seat (12).

4. The integrated device for three-dimensional grape cultivation and efficient picking according to claim 3 is characterized by: A spring (134) is provided outside the positioning plate (133), and the other end of the spring (134) is provided outside the support plate (132).

5. The integrated device for three-dimensional grape cultivation and efficient picking according to claim 1 is characterized in that: One end of the second robotic arm (7) is externally rotatably connected to the inside of the other end of the first robotic arm (4).

6. The integrated device for three-dimensional grape cultivation and efficient harvesting according to claim 1, characterized in that: One end of the first rotating rod (103) is rotatably connected to the outside of the first electric push rod (9).

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