A grape harvester

Abstract

The utility model relates to agricultural intelligent equipment technical field especially, more particularly to a grape harvesting vehicle, including self -walking mechanism, and set in self -walking mechanism on picking mechanism, conveying mechanism, moving mechanism and storage box, through setting picking mechanism in self -walking mechanism, with the caterpillar wheel group of self -walking mechanism drive mechanism walks, utilize picking mechanism's picking camera and locate grape, then by first picking jaw and second picking jaw clamping grape, the grape that plucks is put into the conveying bottom plate top of conveying mechanism, and slides between the protective plate and the rotating paddle and enters the corresponding storage box, in addition storage box sets up in the moving slide of moving mechanism, when the storage box is put into a certain number of grape, can pass through the moving rudder drive gear rotation, then with gear drive rack and moving slide moves back, thereby drive storage box moves, avoid grape repeatedly falling into the same area of storage box, improve grape harvesting efficiency.

Description

Technical Field

[0001] This utility model relates to the field of agricultural intelligent equipment technology, and in particular to a grape harvesting vehicle. Background Technology

[0002] With the increase in planting scale, machine harvesting has emerged. The biggest advantage of machine harvesting is its speed, allowing for nighttime harvesting and ensuring the rapid picking of grapes at their optimal ripeness. Patent CN215991989U discloses a cantilevered grape-harvesting robot, consisting of a walking mechanism, a harvesting mechanism, a shearing mechanism, a binocular camera, an ultrasonic sensor, and a frame. A soft harvesting hand grips the grapes, and a shearing motor drives a shearing blade to cut the grape stems. After the stems are cut, the harvesting mechanism moves to deliver the grapes to a storage box. The robot's harvesting and shearing operations are performed by two separate mechanisms, both mounted at the end of the harvesting mechanism, resulting in a complex equipment structure. Furthermore, the storage box is part of the frame, making it inconvenient to transfer grapes when full. Patent CN221996094U discloses a dual-machine cooperative grape-harvesting device. The system includes a harvesting robot and a receiving robot. The harvesting robot includes a harvesting robotic arm with a harvesting component at the end effector. The harvesting component includes a pair of harvesting arms distributed on the left and right sides. Each pair of harvesting arms has a clamping plane at one end adjacent to the other to hold the grape stem segments. Each pair of harvesting arms has a cutting blade at the top end near the clamping plane to cut the grape stem segments, with the blade extending between the two harvesting arms. The receiving robot includes a lifting component with a harvesting frame for placing grapes at the lifting end. Grapes harvested by the harvesting robot are placed in the harvesting frame of the receiving robot. The above device requires cooperation between the harvesting robot and the receiving robot to complete the harvesting, resulting in low harvesting efficiency. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model provides a grape harvesting vehicle with a storage box, which can be moved during the harvesting process to cooperate with the harvesting mechanism in placing grapes.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A grape harvesting vehicle includes a self-propelled mechanism, and a harvesting mechanism, a conveying mechanism, a moving mechanism, and a storage box mounted on the self-propelled mechanism. The conveying mechanism transfers the grapes harvested by the harvesting mechanism into the storage box. The storage box is moved back and forth by the moving mechanism. The moving mechanism includes a moving slide plate and moving tracks. The two sides of the moving slide plate are located in the moving tracks. The two moving tracks are fixed to the bottom of the self-propelled mechanism. The storage box is located on the moving slide plate. The end of the moving slide plate away from the storage box is connected to a drive component. The drive component drives the moving slide plate and the storage box to move back and forth under the chassis base plate.

[0006] The aforementioned grape harvesting vehicle's drive assembly includes a servo motor, a gear, and a rack. The servo motor is mounted on the lower part of the self-propelled mechanism, and its output end is connected to the gear. The gear meshes with the rack, and the other end of the rack is connected to a sliding plate.

[0007] The grape harvesting vehicle described above has a pulley rotatably connected to the movable slide, and the pulley is located above the movable slide.

[0008] The grape harvesting vehicle described above includes a conveying base plate, which is inclined toward the storage box. One end of the conveying base plate is fixedly connected to the self-propelled mechanism, and the other three sides are fixed to the self-propelled mechanism through conveying side plates. Protective plates are provided on both sides of the conveying base plate.

[0009] The aforementioned grape harvesting vehicle, the conveying mechanism further includes a paddle motor and a rotating paddle. The paddle motor is mounted under the conveying base plate, and its output end is connected to the rotating paddle. The rotating paddle is located above the conveying base plate, and the sliding path of the grapes is changed by rotating the paddle. The number of storage boxes is at least two.

[0010] The grape harvesting vehicle described above has a harvesting mechanism mounted at the front end of a self-propelled mechanism. This mechanism includes a robotic arm and a harvesting assembly located at the end of the robotic arm. The harvesting assembly includes a harvesting assembly housing, a harvesting camera, a harvesting servo motor, a first harvesting gripper, and a second harvesting gripper. The harvesting assembly housing is rotatably connected to the robotic arm, and a harvesting camera is mounted on top of it. The harvesting servo motor is mounted inside the harvesting assembly housing, and its output end is connected to a harvesting gear. The first and second harvesting grippers, symmetrically distributed on the left and right sides, are rotatably connected inside the harvesting assembly housing. Both the first and second harvesting grippers have arc-shaped gripper racks at their rear ends, and the tooth grooves of the two gripper racks mesh with each other. An arc-shaped transition rack is located below the gripper rack of the first harvesting gripper, and this transition rack meshes with the tooth groove of the harvesting gear.

[0011] The grape harvesting vehicle described above has a clamping plate at the front end of both the first and second picking claws. The clamping plate of the first picking claw has a baffle, and the baffle and the clamping plate are connected by a buffer spring. The baffle has a friction groove, and the top of the clamping plate of the second picking claw has a blade.

[0012] The aforementioned grape harvesting vehicle includes a self-propelled mechanism comprising a chassis base plate, chassis side plates fixed to both sides of the chassis base plate, and track wheel sets mounted on the chassis side plates.

[0013] The beneficial effects of adopting the above technical solution are as follows:

[0014] This invention features a harvesting mechanism integrated into a self-propelled mechanism. The self-propelled mechanism's tracked wheels drive the mechanism's movement. A harvesting camera identifies and locates the grapes, and a harvesting servo motor drives the first and second harvesting jaws to close. The jaws' baffles and clamping plates grip the grape stem segments, while a blade at the top of the clamping plate cuts the stem segments. The harvested grapes are placed on the top of the conveyor base plate of the conveying mechanism and slide between a protective plate and a rotating deflector into the corresponding storage box. The storage box is mounted on a sliding plate of the moving mechanism. When a certain number of grapes are placed in the storage box, the servo motor drives a gear to rotate, which in turn drives a rack and pinion to move backward, thus moving the storage box. The grapes then land in an area previously obscured by the chassis base plate, improving the utilization rate of the storage box during automatic harvesting. When the storage box is full, it can be removed directly from the sliding plate, replaced with an empty box, and harvesting can continue. This ensures continuous and stable operation of the invention and improves harvesting efficiency. Attached Figure Description

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model (not drawn to scale);

[0017] Figure 2 This is a schematic diagram of the harvesting component in this utility model (not drawn to scale);

[0018] Figure 3 This is a schematic diagram of the harvesting component from another direction in this utility model (not drawn to scale);

[0019] Figure 4 This is a schematic diagram of the structure of the first picking gripper in this utility model (not drawn to scale);

[0020] Figure 5 This is a cross-sectional view of the conveying component in this utility model (not drawn to scale);

[0021] Figure 6 This is a schematic diagram of the transfer component in this utility model (not drawn to scale).

[0022] In the diagram: 1. Self-propelled mechanism; 11. Chassis base plate; 12. Chassis side plate; 13. Track wheel assembly; 131. Travel motor; 132. Drive track wheel; 133. Driven track wheel; 134. Connecting shaft; 135. Roller track; 2. Harvesting mechanism; 21. Harvesting component housing; 22. Harvesting camera; 23. Harvesting servo motor; 24. First harvesting gripper; 241. Baffle; 242. Buffer spring; 25. Second harvesting gripper; 251. Blade; 26. Harvesting gear; 27. Gripper rack; 28. Adapter rack; 29. ​​Clamping plate; 3. Conveying mechanism; 31. Conveying base plate; 32. Conveying side plate; 33. Protective plate; 34. Paddle motor; 35. Rotating paddle; 4. Moving mechanism; 41. Moving slide plate; 411. Second connecting ring; 42. Moving slide rail; 421. Pulley; 43. Moving servo motor; 44. Moving gear; 45. Moving rack; 451. First connecting ring; 46. Rack connecting block; 461. Through hole; 5. Storage box. Detailed Implementation

[0023] like Figure 1-6 As shown, this utility model includes a self-propelled mechanism 1, and a picking mechanism 2, a conveying mechanism 3, a moving mechanism 4 and a storage box 5 disposed on the self-propelled mechanism 1. The self-propelled mechanism 1, the picking mechanism 2, the conveying mechanism 3 and the moving mechanism 4 are all electrically connected to an intelligent controller.

[0024] like Figure 1 , 6 As shown, the self-propelled mechanism 1 includes a chassis base plate 11, with chassis side plates 12 fixed on both sides of the chassis base plate 11. Track wheel sets 13 are mounted on the chassis side plates 12, and the track wheel sets 13 drive the chassis base plate 11 and its components to move. The track wheel sets 13 include a walking motor 131, a drive track wheel 132, a driven track wheel 133, a connecting shaft 134, and a roller track 135. The walking motor 131 is mounted on the chassis side plate 12, and its output end is connected to the drive track wheel 132. The drive track wheel 132 and the driven track wheel 133 are fitted with roller tracks 135. The two drive track wheels 132 and the driven track wheels 133 on opposite sides of the chassis base plate 11 are connected by a connecting shaft 134. The track wheels and roller tracks have good wear resistance and a large ground contact area when moving, making them more suitable for uneven ground such as furrows and slopes.

[0025] like Figure 1-3As shown, the harvesting mechanism 2 is mounted on the front end of the chassis base plate 11, and includes a robotic arm and a harvesting component located at the end of the robotic arm. The harvesting component includes a harvesting component housing 21, a harvesting camera 22, a harvesting servo motor 23, a first harvesting gripper 24, and a second harvesting gripper 25. The harvesting component housing 21 is rotatably connected to the robotic arm, and the harvesting camera 22 is mounted on top of it. The harvesting camera 22 is used to identify and locate grapes. The harvesting servo motor 23 is mounted inside the harvesting component housing 21, and its output end is connected to a harvesting gear 26. The first harvesting gripper 24 and the second harvesting gripper 25, which are symmetrically distributed on the left and right sides, are rotatably connected inside the harvesting component housing 21. The first picking gripper 24 and the second picking gripper 25 are both provided with arc-shaped gripper racks 27 at their rear ends. The tooth grooves of the two gripper racks 27 mesh with each other. The first picking gripper 24 is provided with an arc-shaped transition rack 28 below the gripper rack 27. The transition rack 28 meshes with the tooth groove of the picking gear 26 of the picking servo motor 23. The picking servo motor 23 drives the picking gear 26 to rotate. Then the picking gear 26 drives the transition rack 28 and the first picking gripper 24 to rotate. The first picking gripper 24 drives the second picking gripper 25 to rotate synchronously through the gripper rack 27, thereby realizing the opening and closing of the first picking gripper 24 and the second picking gripper 25.

[0026] like Figure 2-4 As shown, the front ends of the first picking gripper 24 and the second picking gripper 25 are both provided with gripping plates 29 for gripping grape stem segments. The gripping plate 29 of the first picking gripper 24 is provided with a baffle 241, which is connected to the gripping plate 29 by a buffer spring 242. The baffle 241 is provided with a friction groove to increase the friction between the baffle 241 and the gripping plate 29 of the second picking gripper 25. The top of the gripping plate 29 of the second picking gripper 25 is provided with... The blade 251 is used to cut grape stem segments. When the first picking claw 24 and the second picking claw 25 approach each other, the baffle 241 and the clamping plate 29 of the second picking claw 25 clamp the grape stem segments. The buffer spring 242 can reduce the impact force on the grape stem segments caused by the closing of the first picking claw 24 and the second picking claw 25, and reduce the clamping damage to the grape stem segments by the baffle 241 and the clamping plate 29. The friction groove on the baffle 241 prevents the grapes from falling off by increasing the friction.

[0027] like Figure 5As shown, the conveying mechanism 3 includes a conveying base plate 31, which is inclined toward the storage box 5. One end of the conveying base plate 31 is fixedly connected to the chassis base plate 11 near the storage box 5, and the other three sides are fixed to the chassis base plate 11 by conveying side plates 32. Protective plates 33 are provided on both sides of the conveying base plate 31. The picking mechanism 2 places the picked grapes on the top of the conveying base plate 31. The grapes slide along the conveying base plate 31 into the storage box 5 under the action of gravity. Since the height of the existing grape storage boxes 5 on the market is generally about 20cm, and the mechanically picked grapes are not fully ripe, the experiment showed that the grapes will not be damaged after falling into the storage box. In order to reduce the impact, a thin layer of sponge can also be placed inside the storage box 5.

[0028] The conveying mechanism 3 of this utility model also includes a paddle motor 34 and a rotating paddle 35. The paddle motor 34 is mounted under the conveying base plate 31, and its output end is connected to the rotating paddle 35. The rotating paddle 35 is located above the conveying base plate 31. The number of storage boxes 5 is at least two. The rotating paddle 35 guides the grapes to slide along the sliding path on the conveying base plate 31, so that the grapes slide to the corresponding storage box 5.

[0029] like Figure 5 , 6 As shown, the moving mechanism 4 includes a moving slide plate 41 and a moving slide rail 42. The two sides of the moving slide plate 41 are located inside the moving slide rail 42. The two moving slide rails 42 are respectively fixed on the chassis side plate 12 of the self-propelled mechanism 1. The storage box 5 is located on the moving slide plate 41. The end of the moving slide plate 41 away from the storage box 5 is connected to the drive component. The drive component drives the moving slide plate 41 and the storage box 5 to move back and forth under the chassis bottom plate 11, so as to avoid grapes falling into the same area of ​​the storage box repeatedly and improve the utilization rate of the storage box 5.

[0030] More specifically, the drive assembly includes a servo motor 43, a gear 44, a rack 45, and a rack connecting block 46. The rack connecting block 46 is fixedly connected to the chassis base plate 11 and has a through hole 461 at its lower part that extends through both sides. The rack 45 passes through the through hole 461 and moves back and forth within the through hole 461. The servo motor 43 is mounted on the lower part of the chassis base plate 11, and its output end is connected to the gear 44. The gear 44 meshes with the rack 45. One end of the rack 45 is fixedly connected to a first connecting ring 451. The sliding plate 41 has a through hole, and a second connecting ring 411 is fitted inside the through hole. The first connecting ring 451 and the second connecting ring 411 are nested together. The servo motor 43 drives the rack 45 to move, thereby driving the sliding plate 41 to move back and forth.

[0031] The movable slide 42 of this utility model is rotatably connected to a pulley 421. The pulley 421 is located above the movable slide plate 41. The pulley 421 presses against the movable slide plate 41 to prevent the movable slide plate 41 from becoming unbalanced after grapes are put into the storage box 5, causing one end of the movable slide plate 41 to lift up and increase the resistance of the movable slide plate 41.

[0032] Work process:

[0033] 1. The walking motor 131 of the self-propelled mechanism 1 drives the track wheel and roller track to rotate, and drives the chassis base plate 11 and its components to move. When the picking camera 22 identifies grapes that can be picked, the mechanical arm of the picking mechanism 2 drives the picking components to move, and drives the picking servo motor 23 to rotate, which drives the baffle 241 of the first picking claw 24 and the clamping plate 29 of the second picking claw 25 to clamp the grape stems. During the closing of the two claws, the blade 251 cuts the grape stem segments.

[0034] 2. The robotic arm places the picked grapes into the top of the conveying mechanism 3. The grapes slide along the conveying base plate 31 into the corresponding storage box 5. When the storage box 5 is empty, part of the box is located under the chassis base plate 11. The grapes fall into the open area of ​​the box. As the number of grapes picked by the picking mechanism 2 increases, the moving servo motor 43 drives the moving gear 44 to rotate and drives the moving rack 45 and the moving slide plate 41 to move backward. This causes the storage box 5 to start moving backward. The storage box 5 gradually reveals part of the area covered by the chassis base plate 11 until the entire storage box 5 moves out from under the chassis base plate 11. Grapes gradually fill the entire storage box 5.

[0035] 3. After a storage box 5 is full, the moving servo motor 43 drives the moving gear 44 to rotate, and drives the moving rack 45 and the moving slide plate 41 to move forward, thereby driving the storage box 5 back to the initial position. Then, the paddle motor 34 drives the rotating paddle 35 to rotate, and the rotating paddle 35 turns to abut against the protective plate 33 on the other side, thereby changing the downward path of the grapes and guiding the grapes to fall into another storage box 5.

[0036] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this invention.

Claims

1. A grape harvesting vehicle, characterized in that: The system includes a self-propelled mechanism (1), and a picking mechanism (2), a conveying mechanism (3), a moving mechanism (4), and a storage box (5) mounted on the self-propelled mechanism (1). The conveying mechanism (3) transfers the grapes picked by the picking mechanism (2) into the storage box (5). The storage box (5) is driven to move back and forth by the moving mechanism (4). The moving mechanism (4) includes a moving slide plate (41) and a moving slide rail (42). The two sides of the moving slide plate (41) are located in the moving slide rail (42). The two moving slide rails (42) are fixed to the bottom of the self-propelled mechanism (1). The storage box (5) is located on the moving slide plate (41). The end of the moving slide plate (41) away from the storage box (5) is connected to a drive component. The drive component drives the moving slide plate (41) and the storage box (5) to move back and forth under the chassis base plate (11).

2. The grape harvesting vehicle according to claim 1, characterized in that: The drive assembly includes a servo motor (43), a gear (44), and a rack (45). The servo motor (43) is mounted on the lower part of the chassis base plate (11), and its output end is connected to the gear (44). The gear (44) meshes with the rack (45), and the other end of the rack (45) is connected to the slide plate (41).

3. The grape harvesting vehicle according to claim 2, characterized in that: A pulley (421) is rotatably connected to the movable slide (42), and the pulley (421) is located above the movable slide (41).

4. The grape harvesting vehicle according to claim 1 or 3, characterized in that: The conveying mechanism (3) includes a conveying base plate (31), which is inclined toward the storage box (5). One end of the conveying base plate (31) near the storage box (5) is fixedly connected to the self-propelled mechanism (1), and the other three sides are fixed to the self-propelled mechanism (1) through conveying side plates (32). Protective plates (33) are provided on both sides of the conveying base plate (31).

5. The grape harvesting vehicle according to claim 4, characterized in that: The conveying mechanism (3) also includes a paddle motor (34) and a rotating paddle (35). The paddle motor (34) is mounted under the conveying base plate (31), and its output end is connected to the rotating paddle (35). The rotating paddle (35) is located above the conveying base plate (31). The sliding path of the grapes is changed by rotating the paddle (35). The number of storage boxes (5) is at least two.

6. The grape harvesting vehicle according to claim 1 or 5, characterized in that: The picking mechanism (2) is mounted on the front end of the self-propelled mechanism (1) and includes a robotic arm and a picking component located at the end of the robotic arm. The picking component includes a picking component housing (21), a picking camera (22), a picking servo motor (23), a first picking gripper (24), and a second picking gripper (25). The picking component housing (21) is rotatably connected to the robotic arm, and the picking camera (22) is mounted on top of it. The picking servo motor (23) is mounted inside the picking component housing (21), and its output end is connected to the picking mechanism. The gear (26) is rotatably connected to the first picking gripper (24) and the second picking gripper (25) which are symmetrically distributed on the left and right sides inside the shell (21) of the picking component. The rear ends of the first picking gripper (24) and the second picking gripper (25) are provided with arc-shaped gripper racks (27). The tooth grooves of the two gripper racks (27) mesh with each other. The first picking gripper (24) has an arc-shaped transition rack (28) below the gripper rack (27), and the transition rack (28) meshes with the tooth groove of the picking gear (26).

7. The grape harvesting vehicle according to claim 6, characterized in that: The first picking gripper (24) and the second picking gripper (25) are both provided with a clamping plate (29) at their front ends. The clamping plate (29) of the first picking gripper (24) is provided with a baffle (241). The baffle (241) and the clamping plate (29) are connected by a buffer spring (242). The baffle (241) is provided with a friction groove. The top of the clamping plate (29) of the second picking gripper (25) is provided with a blade (251).

8. The grape harvesting vehicle according to claim 1 or 7, characterized in that: The self-propelled mechanism (1) includes a chassis base plate (11), chassis side plates (12) are fixed on both sides of the chassis base plate (11), and track wheel sets (13) are mounted on the chassis side plates (12).

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