Grape picking machine

Abstract

The utility model relates to the technical field of grape picking, and discloses a grape picking machine which comprises a base plate, and four walking assemblies are arranged below the base plate. The lifting assembly is used for adjusting the picking height; the fruit receiving assembly is used for collecting the picked grapes; the pruning assembly is used for picking grapes. Through cooperation of the walking assembly, the lifting assembly, the fruit receiving assembly and the pruning assembly, the effect of automatically picking grapes is achieved, manual grape picking operation is replaced, the labor cost is reduced, and meanwhile the picking efficiency is improved; through the arrangement of the two buffer covers, the two buffer covers can firstly receive fallen grapes and then put the grapes into the fruit receiving frame, the middle buffer process is added in the process from picking of the grapes to falling of the grapes into the fruit receiving frame, impact force borne by the grapes is reduced, and therefore losses caused by damage of the grapes are reduced.

Description

Technical Field

[0001] This utility model relates to the field of grape harvesting technology, specifically to a grape harvesting machine. Background Technology

[0002] Grapes typically ripen in autumn, with most varieties harvested in August and September. However, this varies by region and variety. In some southern regions, early-ripening varieties can be harvested as early as late July, while in northern regions, the harvest may be slightly later. For example, some grape varieties in Xinjiang may not reach their optimal harvesting period until September or even October. When harvesting, prepare sharp and clean scissors or pruning shears to easily cut the grape stems. Also, prepare suitable harvesting baskets or containers with smooth inner walls to avoid scratching the grapes. You can also prepare some plastic wrap or freezer bags to wrap the harvested grapes and prevent moisture loss.

[0003] Chinese patent CN214592965U discloses a "grape harvester" comprising a pole with a scissor assembly at the top. The scissor assembly includes an electric telescopic rod fixed to one side of the pole. The telescopic end of the electric telescopic rod has a telescopic head, and two sets of cross-arranged connecting rods are hinged to the telescopic head. The other ends of the two sets of connecting rods are respectively hinged to blades. The two sets of blades are staggered, and the middle of each set of blades is hinged to a four-sided frame at the end away from the blade. The other end of the four-sided frame is fixed to the fixed end of the electric telescopic rod. This patent has a simple structure and is easy to operate. The electric telescopic rod drives the connecting rods to move, thereby driving the two sets of blades to cut the grapes. The cut grapes fall into the installed net bag under the action of gravity, resulting in high harvesting efficiency.

[0004] However, the existing technology has the following problems:

[0005] 1. Currently, most grape harvesting operations still rely on manual harvesting. As labor costs increase, the cost of manual harvesting also increases. Furthermore, manual harvesting is less efficient and involves higher labor intensity for workers.

[0006] 2. Even though some harvesting robots have emerged, their structures are relatively simple and their harvesting flexibility is not high enough. Either the harvesting flexibility is insufficient or the collection flexibility is insufficient, resulting in the collection and harvesting actions not being matched in a timely manner.

[0007] 3. When picking grapes or other fragile fruits, due to the nature of the fruit, if the collection basket cannot be moved with the fruit during the process of falling into the picking basket, or if the distance between the two is too high, or if the collection basket or picking basket is poorly designed, the fruit may collide with the picking basket, causing damage to the fruit and resulting in losses. Utility Model Content

[0008] The purpose of this utility model is to provide a grape harvesting machine to solve the above-mentioned problems and overcome the defects of the prior art, as detailed below.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A grape harvesting machine includes a chassis with four walking components located below the chassis. The four walking components are respectively located at the four corners of the chassis. Each walking component includes a wheel frame, one end of which is rotatably connected to the chassis, and the other end of which is provided with a roller.

[0011] It also includes a lifting assembly, a fruit-grabbing assembly, and a pruning assembly. The lifting assembly includes a lifting frame body, the pruning assembly includes a pruning moving structure and an electric shear connected to each other, and the fruit-grabbing assembly includes a fruit-grabbing structure and a fruit-grabbing moving structure slidably connected. The pruning moving structure drives the electric shear to move, and the fruit-grabbing moving structure drives the fruit-grabbing structure to move.

[0012] The pruning moving structure is provided with two rotating seats, which are rotatably connected to two mutually mirror-arranged buffer covers. The bottom of the buffer cover is provided with an arc-shaped fruit-receiving surface. The inner wall of the fruit-receiving surface is provided with a stepped slow-descent protrusion made of elastic material. One end of each of the two buffer covers is provided with a connecting rod and hinged. The end of each connecting rod away from the buffer cover is hinged with an arc-shaped block. A return spring is provided between the two connecting rods.

[0013] The main body of the lifting frame is set above the chassis, the pruning moving structure is set on the main body of the lifting frame and connected to the main body of the lifting frame, and the fruit receiving moving structure is set on the main body of the lifting frame and connected to the main body of the lifting frame. When working, the fruit receiving structure is located below the electric shears and collects the grapes picked by the electric shears.

[0014] In one possible implementation, the walking assembly includes a steering motor and rollers. One end of the steering motor is connected to the chassis, and the output end of the steering motor is connected to the wheel frame. A motion motor is provided on the side of the wheel frame, and the output end of the motion motor is connected to the rollers.

[0015] As one possible implementation, the lifting frame body includes a scissor lift and a mounting platform. One end of the scissor lift is connected to the chassis. The chassis is equipped with a cylinder and connected to the scissor lift. The top of the scissor lift is connected to the mounting platform.

[0016] In one possible implementation, the fruit-receiving moving structure includes a first up-and-down moving module and a first left-and-right moving module. The fruit-receiving structure is a fruit-receiving frame. The first up-and-down moving module is mounted on a mounting platform. The first up-and-down moving module and the first left-and-right moving module are slidably connected. The first up-and-down moving module and the first left-and-right moving module are each provided with a driving device. The fruit-receiving frame is disposed on the first left-and-right moving module and moves on the first left-and-right moving module.

[0017] As one possible implementation, a visual acquisition device is also provided, which is located on top of the first vertically movable module.

[0018] In one possible implementation, the pruning moving structure includes a second up-and-down moving module, a second left-and-right moving module, and a telescopic arm. The second up-and-down moving module is mounted on a mounting platform and is slidably connected to the second left-and-right moving module. The second left-and-right moving module is connected to the telescopic arm. Each of the second up-and-down moving module, the second left-and-right moving module, and the telescopic arm is equipped with a driving device. The end of the telescopic arm away from the second left-and-right moving module is equipped with a mounting base. A motor is installed in the mounting base. The electric shears are connected to the mounting base. When the electric shears have finished working, the fruit-receiving frame is located below the electric shears.

[0019] As one possible implementation, the inside of the fruit receiving frame is provided with multiple constant force springs and a support plate. One side of the support plate is positioned on top of the multiple constant force springs, and the other side of the support plate is provided with multiple flexible pads.

[0020] In one possible implementation, the top of the receiving frame and the arc-shaped block on the same side is provided with a fork rod and rotatably connected by a bracket. The top of the fork rod is provided with an abutment rod. During the movement, the arc-shaped block contacts the abutment rod, causing the buffer cover to open.

[0021] In one possible implementation, the end of the fork away from the contact rod is configured as a fork shape. Sliding rods are provided on the top of both sides of the fruit-receiving frame and are slidably connected. A smooth rod connects the two sliding rods, and the smooth rod contacts the inner wall of the fork-shaped end of the fork. A serrated block is provided on the top surface of each of the two sliding rods. A return spring is provided between each of the two sliding rods and the fruit-receiving frame. Two elastic rods are provided and connected to the bottom inner wall of the fruit-receiving frame. The top ends of the two elastic rods contact the two serrated blocks, and the serrations of the two serrated blocks are staggered. Both elastic rods are slidably connected through a support plate. A gap is provided between the outer wall of the support plate and the inner wall of the fruit-receiving frame.

[0022] This utility model, by adopting the above technical solution, has significant technical effects:

[0023] 1. The grape harvesting machine of this application achieves the effect of automatic fruit harvesting through the cooperation of walking components, lifting components, fruit receiving components and pruning components, replacing manual grape harvesting operations, reducing labor costs and improving harvesting efficiency.

[0024] 2. By setting up two buffer covers, the two buffer covers can first catch the falling grapes and other fruits. Then, the buffer protrusions of the stepped structure inside the buffer covers allow the fruits to roll down slowly, preventing the impact caused by rapid rolling. Finally, as the buffer covers slowly open, thanks to the curved surface design, the buffer protrusions can still reduce the rolling speed of the fruits, thereby reducing the loss caused by damage to the fruits.

[0025] 3. The fruit receiving frame of this application, through the cooperation of the support plate and multiple constant force springs, enables the support plate to not only play a buffering role, but also to lower according to the weight of the grapes above it, so that the landing point of the grapes is always kept at a high position, minimizing the falling distance of the grapes and further improving the protection effect of the grapes.

[0026] 4. The fruit receiving frame of this application, through the cooperation between two elastic rods and two serrated blocks, enables the two elastic rods to intermittently drive the tray to shake, so that the grapes can be more evenly distributed in the fruit receiving frame, avoiding the grapes from piling up and affecting the actual storage capacity of the fruit receiving frame. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 2 This is a schematic diagram of the walking component of this utility model;

[0030] Figure 3 This is a schematic diagram of the mounting platform of this utility model;

[0031] Figure 4 This is a schematic diagram of the pruning component of this utility model;

[0032] Figure 5 This is a schematic diagram of the fruit-receiving component of this utility model;

[0033] Figure 6This is a schematic diagram of the fruit receiving frame of this utility model;

[0034] Figure 7 This is a schematic diagram of the structure of the buffer cover of this utility model;

[0035] Figure 8 This is a schematic diagram of the structure of the tray of this utility model;

[0036] Figure 9 This is a schematic diagram of the structure of the air cushion of this utility model;

[0037] Figure 10 This is a schematic diagram of the sawtooth block of this utility model;

[0038] Figure 11 This is a schematic diagram of the elastic rod of this utility model.

[0039] The reference numerals in the attached drawings are explained as follows: 1. Chassis; 2. Walking assembly; 21. Wheel frame; 22. Roller; 23. Motion motor; 24. Steering motor; 3. Lifting assembly; 31. Scissor lift frame; 32. Mounting platform; 4. Fruit receiving assembly; 41. First vertical moving module; 42. First horizontal moving module; 43. Fruit receiving frame; 44. Constant force spring; 45. Support plate; 46. Flexible pad; 47. Fork rod; 48. Abutment rod; 49. Slide rod; 410. Smooth rod; 411. Serrated block; 412. Elastic rod; 5. Pruning assembly; 51. Second vertical moving module; 52. Second horizontal moving module; 53. Telescopic arm; 54. Mounting base; 55. Electric scissors; 56. Rotary seat; 57. Buffer cover; 58. Air cushion; 59. Connecting rod; 510. Arc block; 6. Vision camera. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0041] Example 1

[0042] Please see Figure 1 , Figure 2 and Figure 3As shown, a grape harvesting machine includes a chassis 1 with four walking components 2 located at the four corners of the chassis 1. Each walking component 2 includes a wheel frame 21 rotatably connected to the chassis 1, with a roller 22 at the other end of the wheel frame 21. The walking component 2 also includes a steering motor 24, one end of which is connected to the chassis 1, and its output end connected to the wheel frame 21. A drive motor 23 is located on the side of the wheel frame 21, with its output end connected to the roller 22, enabling the drive motor 23 to drive the roller 22. The steering motor 24 can drive the wheel frame 21 and roller 22 to rotate. The four walking components 2 are centrally controlled. Through the cooperation of the four walking components 2, the chassis 1 can achieve the walking and turning functions. It also includes a lifting component 3 for adjusting the picking height. The lifting component 3 includes a scissor lift frame 31. One end of the scissor lift frame 31 is connected to the chassis 1. The chassis 1 is equipped with a cylinder and connected to the scissor lift frame 31. The top of the scissor lift frame 31 is connected to the mounting platform 32. The scissor lift frame 31 is driven by the cylinder and can drive the mounting platform 32 to move up and down.

[0043] Reference Figure 5 and Figure 6 As shown, the fruit receiving component 4 is used to collect harvested grapes. The fruit receiving component 4 includes a first up-and-down moving module 41, which is mounted on the mounting platform 32. The first up-and-down moving module 41 is slidably connected to a first left-and-right moving module 42. The first up-and-down moving module 41 and the first left-and-right moving module 42 are respectively provided with driving devices. The first left-and-right moving module 42 is connected to the fruit receiving frame 43. The first left-and-right moving module 42 can move up and down on the first up-and-down moving module 41 through the driving device. The fruit receiving frame 43 can move left and right on the first left-and-right moving module 42 through the driving device. The fruit receiving frame 43 can move in four directions: up, down, left, and right. A vision camera 6 is provided on the top of the first up-and-down moving module 41. The vision camera 6 is used to detect the position of the grapes.

[0044] For reference Figure 4The pruning assembly 5 is used for harvesting grapes. The pruning assembly 5 includes a second vertical moving module 51, which is mounted on a mounting platform 32. The second vertical moving module 51 is slidably connected to a second horizontal moving module 52. The second horizontal moving module 52 is connected to a telescopic arm 53. Each of the second vertical moving module 51, the second horizontal moving module 52, and the telescopic arm 53 is equipped with a driving device. The second horizontal moving module 52 can move vertically on the second vertical moving module 51 via the driving device, and the telescopic arm 53 can move horizontally on the second horizontal moving module 52 via the driving device. The telescopic arm 53 can drive the mounting base 54 to move forward via the driving device. The telescopic arm 53 moves backward, with a mounting base 54 at one end away from the second left and right moving module 52. An electric shears 55 is mounted on the mounting base 54. The electric shears 55 can automatically cut grapes, thus it can move in six directions: up, down, left, right, forward, and backward. The electric shears 55 is located above the fruit receiving frame 43. The electric shears 55 and the fruit receiving frame 43 work together to catch the grapes cut by the electric shears 55. Through the cooperation of the walking component 2, the lifting component 3, the fruit receiving component 4, and the pruning component 5, the effect of automatic grape picking is achieved, replacing manual grape picking, reducing labor costs, and improving picking efficiency.

[0045] Specifically, one end of the mounting base 54 is provided with two rotating seats 56, and two buffer covers 57 are rotatably connected to the two rotating seats 56 respectively, such as Figure 7 and Figure 9 As shown, two buffer covers 57 are mirror images of each other. The inner walls of the buffer covers 57 are equipped with air cushions 58. When grapes fall into the two buffer covers 57, the air cushions 58 inside the buffer covers 57 cushion the impact, protecting the grapes and preventing damage. One end of each buffer cover 57 is equipped with a connecting rod and hinged 59. The ends of the two connecting rods 59 furthest from the buffer covers 57 are hinged to an arc-shaped block 510. A return spring is provided between the two connecting rods 59. The rear top of the fruit-receiving frame 43 is equipped with a fork rod connected to a rotatable joint 47 via a bracket. The top of the fork rod 47 is equipped with an abutment rod 48. The arc-shaped block 510 contacts the abutment rod 48 during movement. When block 510 moves backward and contacts the abutment rod 48, the arc-shaped block 510 is squeezed and stops moving backward. At this time, the two buffer covers 57 drive the two connecting rods 59 to continue moving backward, so that the two connecting rods 59 open the two buffer covers 57. After the two buffer covers 57 separate, the grapes inside fall into the receiving frame 43 below. Through the setting of the two buffer covers 57, the two buffer covers 57 can catch the falling grapes first and then put the grapes into the receiving frame 43. An intermediate buffering process is added in the process of grapes falling into the receiving frame 43 from picking, which reduces the impact force on the grapes and thus reduces the loss caused by grape damage.

[0046] In one embodiment, the fruit receiving frame 43 is provided with a plurality of constant force springs 44 inside, and the tops of the plurality of constant force springs 44 are connected to a support plate 45, such as Figure 8 As shown, the tray 45 is connected to multiple flexible pads 46. The flexible pads 46 protect the grapes and reduce the impact force on the grapes when they hit the flexible pads 46. As the number of grapes on the tray 45 increases, the pressure on the tray 45 increases, causing multiple constant force springs 44 to contract and the tray 45 to move downward. When there are no grapes on the tray 45, the tray 45 is at its highest point. As the weight of the grapes on the tray 45 gradually increases, the tray 45 gradually moves downward, so that the landing point of the grapes in the receiving frame 43 is always kept at a position not far from the top of the receiving frame 43, minimizing the distance the grapes fall and thus reducing the impact force on the grapes, thereby reducing the damage caused by the grapes colliding with other grapes. Through the cooperation of the tray 45 and multiple constant force springs 44, the tray 45 can not only play a buffering role, but also descend according to the weight of the grapes above it, keeping the landing point of the grapes at a high position and minimizing the distance the grapes fall, further improving the protection effect of the grapes.

[0047] In addition, such as Figure 10 and Figure 11 As shown, the end of the fork 47 furthest from the contact rod 48 is fork-shaped. When the contact rod 48 contacts the arc block 510, the fork 47 can rotate at a certain angle, causing the contact rod 48 to swing backward at a certain angle after being subjected to pressure. The top of both sides of the fruit receiving frame 43 are respectively provided with sliding rods and slidably connected by 49. A smooth rod 410 is connected between the two sliding rods 49. The smooth rod 410 contacts the inner wall of the fork-shaped end of the fork 47. When the fork 47 swings, it utilizes… The lever principle drives the smooth rod 410 to move through the fork-shaped end at the bottom. The top surfaces of the two sliding rods 49 are respectively provided with serrated blocks 411. When the smooth rod 410 moves, it drives the two sliding rods 49 to move the two serrated blocks 411 synchronously. The two sliding rods 49 and the fruit receiving frame 43 are respectively provided with return springs. The return springs are used to reset the sliding rods 49. The bottom inner wall of the fruit receiving frame 43 is provided with and connected to two elastic rods 412. The top ends of the two elastic rods 412 are in contact with the two serrated blocks 411 respectively.

[0048] When the serrated block 411 moves, it actuates the elastic rod 412. The elastic rod 412 is actuated by the serrated surface and swings left and right. The serrations of the two serrated blocks 411 are staggered. Both elastic rods 412 are slidably connected to the support plate 45. There is a gap between the outer wall of the support plate 45 and the inner wall of the fruit receiving frame 43. Because the serrations of the two serrated blocks 411 are staggered, the two elastic rods 412 can swing left and right synchronously. When the two elastic rods 412 swing left and right, they drive the support plate 45 to swing left and right. The support plate 45 swings left and right to a certain extent, which can shake the grapes on it, so that the grapes are more evenly distributed in the fruit receiving frame 43. Through the cooperation between the two elastic rods 412 and the two serrated blocks 411, the two elastic rods 412 can intermittently drive the support plate 45 to shake, so that the grapes can be more evenly distributed in the fruit receiving frame 43, avoiding the grapes from piling up and affecting the actual storage capacity of the fruit receiving frame 43.

[0049] Using the above structure, the working principle of this application is as follows:

[0050] The motion motor 23 drives the roller 22 to rotate, and the steering motor 24 drives the wheel frame 21 and the roller 22 to rotate. The four walking components 2 are centrally controlled, and through the cooperation of the four walking components 2, the chassis 1 can achieve walking and turning functions. The scissor lift frame 31 is driven by a cylinder, and the scissor lift frame 31 can drive the mounting platform 32 to move up and down. When the mounting platform 32 moves up and down, it drives the fruit receiving component 4 and the pruning component 5 to move up and down synchronously. The first left and right moving module 42 can move up and down on the first up and down moving module 41 through a drive device. The fruit receiving frame 43 is driven by a drive device. The device can move left and right on the first left and right moving module 42. The second left and right moving module 52 can move up and down on the second up and down moving module 51 through the driving device. The telescopic arm 53 can move left and right on the second left and right moving module 52 through the driving device. The telescopic arm 53 can drive the mounting base 54 to move back and forth through the driving device. The electric scissors 55 on the mounting base 54 can automatically cut. Therefore, the electric scissors 55 can move in six directions: up, down, left, right, forward, and backward. The receiving frame 43 can move in four directions: up, down, left, and right.

[0051] During harvesting, the four walking components 2 drive the chassis 1 to move. When the vision camera 6 detects the location of the grapes, the walking components 2 stop, and the lifting component 3 lifts the fruit receiving component 4 and the pruning component 5. The electric shears 55 move to the grape branch and cut the branch. The grapes fall into the two buffer covers 57. The air cushions 58 inside the buffer covers 57 cushion the impact to protect the grapes and prevent damage from the impact. Subsequently, the telescopic arm 53 retracts, and the mounting base 54 moves the two buffer covers 57 to the upper part of the fruit receiving frame 43 via the two rotating seats 56. During this process, the arc-shaped blocks 510 on the rear side of the two buffer covers 57 come into contact with the abutment rod 48, causing the arc-shaped blocks 510 to be squeezed and stop moving backward. At this time, the two buffer covers 57 drive the two connecting rods 59 to continue moving backward, causing the two connecting rods 59 to open the two buffer covers 57. After the two buffer covers 57 separate, the grapes inside fall into the fruit receiving frame 43 below. After the grapes enter the fruit receiving frame 43, they fall onto the tray 45. The flexible pad 46 on the tray 45 plays a role in protecting the grapes and reducing the impact force on the grapes when they hit the flexible pad 46.

[0052] Subsequently, the telescopic arm 53 continues to move the mounting base 54 forward for subsequent harvesting operations. The arc block 510 disengages from the contact rod 48, the two buffer covers 57 reset by gravity, and the two connecting rods 59 reset using the elastic force of the reset spring. As the number of grapes on the tray 45 increases, the pressure on the tray 45 increases, causing multiple constant force springs 44 to contract under force, and the tray 45 moves downward. When there are no grapes on the tray 45, the tray 45 is at its highest point. As the weight of the grapes on the tray 45 gradually increases, the tray 45 gradually moves downward, ensuring that the landing point of the grapes in the receiving frame 43 is always kept not far from the top of the receiving frame 43, minimizing the distance the grapes fall, thereby reducing the impact force on the grapes and reducing damage caused by collisions with other grapes. Through the cooperation of the walking component 2, the lifting component 3, the receiving component 4, and the pruning component 5, the effect of automatic grape harvesting is achieved, replacing manual grape harvesting, reducing labor costs, and improving harvesting efficiency.

[0053] By setting up two buffer covers 57, the two buffer covers 57 can first catch the falling grapes and then put the grapes into the receiving frame 43. An intermediate buffering process is added during the process of the grapes falling from the picking point to the receiving frame 43, reducing the impact force on the grapes and thus reducing the loss caused by grape damage. Through the cooperation of the support plate 45 and multiple constant force springs 44, the support plate 45 can not only play a buffering role, but also lower itself according to the weight of the grapes above it, so that the landing point of the grapes is always kept at a high position, minimizing the falling distance of the grapes and further improving the protection effect of the grapes.

[0054] When the contact rod 48 contacts the arc-shaped block 510, the fork 47 can rotate at a certain angle, causing the top of the contact rod 47 to swing backward at a certain angle after being subjected to pressure. This allows the fork 47 to use the lever principle to move the smooth rod 410 forward through its fork-shaped bottom end. When the smooth rod 410 moves forward, it drives the two serrated blocks 411 to move forward through the two sliding rods 49. When the contact rod 48 disengages from the arc-shaped block 510, the two sliding rods 49 are reset by the two return springs, and the smooth rod 410 is reset accordingly, driving the fork 47 to reset as well. The two serrated blocks 411 are also reset. When the two serrated blocks 411 move, they can actuate the two elastic rods 412. When the lever 412 is in motion, the elastic lever 412 is propelled by the serrated surface and swings left and right. Since the serrations of the two serrated blocks 411 are staggered, the two elastic levers 412 can swing back and forth synchronously. When the two elastic levers 412 swing back and forth, they drive the support plate 45 to swing back and forth. The support plate 45 swings back and forth to a certain extent, which can shake the grapes above it, making the grapes more evenly distributed in the fruit receiving frame 43. Through the cooperation between the two elastic levers 412 and the two serrated blocks 411, the two elastic levers 412 can intermittently drive the support plate 45 to shake, so that the grapes can be more evenly distributed in the fruit receiving frame 43, avoiding the grapes from piling up and affecting the actual storage capacity of the fruit receiving frame 43.

[0055] In all the embodiments described above, although the fruit to be picked is grapes, similar fruits such as blueberries can also be picked. The name "grapes" is used for convenience in naming the picking robot and is not intended to limit it to picking only grapes. Therefore, the type of fruit picked should not be used to restrict the purpose of the picking robot.

[0056] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A grape harvesting machine, comprising a chassis, characterized in that: Four walking components are provided under the chassis, and the four walking components are respectively located at the four corners of the chassis. Each walking component includes a wheel frame, one end of which is rotatably connected to the chassis, and the other end of which is provided with a roller. It also includes a lifting assembly, a fruit-grabbing assembly, and a pruning assembly. The lifting assembly includes a lifting frame body, the pruning assembly includes a pruning moving structure and an electric shear connected to each other, and the fruit-grabbing assembly includes a fruit-grabbing structure and a fruit-grabbing moving structure slidably connected. The pruning moving structure drives the electric shear to move, and the fruit-grabbing moving structure drives the fruit-grabbing structure to move. The pruning moving structure is provided with two rotating seats, which are rotatably connected to two mutually mirror-arranged buffer covers. The bottom of the buffer cover is provided with an arc-shaped fruit-receiving surface. The inner wall of the fruit-receiving surface is provided with a stepped slow-descent protrusion made of elastic material. One end of each of the two buffer covers is provided with a connecting rod and hinged. The end of each connecting rod away from the buffer cover is hinged with an arc-shaped block. A return spring is provided between the two connecting rods. The main body of the lifting frame is set above the chassis, the pruning moving structure is set on the main body of the lifting frame and connected to the main body of the lifting frame, and the fruit receiving moving structure is set on the main body of the lifting frame and connected to the main body of the lifting frame. When working, the fruit receiving structure is located below the electric shears and collects the grapes picked by the electric shears.

2. The grape harvesting machine according to claim 1, characterized in that: The walking assembly includes a steering motor and rollers. One end of the steering motor is connected to the chassis, and the output end of the steering motor is connected to the wheel frame. A motion motor is provided on the side of the wheel frame, and the output end of the motion motor is connected to the rollers.

3. A grape harvesting machine according to claim 2, characterized in that: The main body of the lifting frame includes a scissor lift and a mounting platform. One end of the scissor lift is connected to the chassis. The chassis is equipped with a cylinder and connected to the scissor lift. The top of the scissor lift is connected to the mounting platform.

4. A grape harvesting machine according to claim 3, characterized in that: The fruit-receiving moving structure includes a first up-and-down moving module and a first left-and-right moving module. The fruit-receiving structure is a fruit-receiving frame. The first up-and-down moving module is mounted on a mounting platform. The first up-and-down moving module and the first left-and-right moving module are slidably connected. The first up-and-down moving module and the first left-and-right moving module are respectively provided with driving devices. The fruit-receiving frame is set on the first left-and-right moving module and moves on the first left-and-right moving module.

5. A grape harvesting machine according to claim 4, characterized in that: It is also equipped with a visual acquisition device, which is located on the top of the first vertically movable module.

6. A grape harvesting machine according to claim 4, characterized in that: The pruning moving structure includes a second up-and-down moving module, a second left-and-right moving module, and a telescopic arm. The second up-and-down moving module is mounted on a mounting platform and is slidably connected to the second left-and-right moving module. The second left-and-right moving module is connected to the telescopic arm. Each of the second up-and-down moving module, the second left-and-right moving module, and the telescopic arm is equipped with a driving device. The end of the telescopic arm away from the second left-and-right moving module is equipped with a mounting base. A motor is installed in the mounting base. The electric shears are connected to the mounting base. When the electric shears have finished working, the fruit receiving frame is located below the electric shears.

7. A grape harvesting machine according to claim 6, characterized in that: The fruit receiving frame is equipped with multiple constant force springs and a support plate inside. One side of the support plate is set on top of the multiple constant force springs, and the other side of the support plate is equipped with multiple flexible pads.

8. A grape harvesting machine according to claim 7, characterized in that: The fruit receiving frame and the top of the arc-shaped block on the same side are connected by a fork rod via a bracket and rotated together. The top of the fork rod is provided with an abutment rod. When the arc-shaped block moves, it contacts the abutment rod, causing the buffer cover to open.

9. A grape harvesting machine according to claim 8, characterized in that: The end of the fork away from the contact rod is fork-shaped. Sliding rods are provided on the top of both sides of the fruit-receiving frame and are slidably connected. A smooth rod connects the two sliding rods, and the smooth rod contacts the inner wall of the fork-shaped end of the fork. Serrated blocks are provided on the top surfaces of the two sliding rods. Return springs are provided between the two sliding rods and the fruit-receiving frame. Two elastic rods are provided and connected to the bottom inner wall of the fruit-receiving frame. The tops of the two elastic rods contact the two serrated blocks, and the serrations of the two serrated blocks are staggered. Both elastic rods are slidably connected through the support plate. A gap is provided between the outer wall of the support plate and the inner wall of the fruit-receiving frame.

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