A picking device for grape growing with a support mechanism

Abstract

The utility model discloses a picking equipment for grape planting with supporting mechanism relates to grape picking technical field, including equipment shell, the equipment shell bottom is provided with the moving wheel, and the equipment shell top is provided with the mechanical arm, the mechanical arm bottom is connected with the control device, and the mechanical arm rear side is provided with the camera, and the mechanical arm tip is provided with the clamping scissors, the equipment shell front side top mesa places the picking frame, and the picking frame rear side is provided with the electric push rod, the picking frame front side is provided with the baffle, and the baffle constitutes the rotation structure, and the baffle is inclined to picking frame and constitutes the transport structure. This picking equipment for grape planting with supporting mechanism solves the problem of traditional picking equipment manual unloading time -consuming, fruit easy damage, is applicable to the large -scale grape planting scene, has efficient picking and automatic transportation function, and the labor intensity is reduced significantly and the picking quality is improved.

Description

Technical Field

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

[0002] Grapes are woody vines belonging to the genus *Vitis* in the family Vitaceae. The fruits are mostly round or oval, growing in clusters. The skin comes in a variety of colors, including purple, green, and red, and is covered with a white, bloomy coating. The flesh is soft, juicy, and sweet-and-sour, rich in glucose, vitamin C, anthocyanins, and other nutrients, offering both nutritional and health benefits. Grape harvesting equipment is crucial for efficient grape harvesting in modern agriculture. It is mainly divided into two categories: manually assisted and fully automatic. Fully automatic harvesters are designed for large-scale planting, equipped with a visual recognition system and a flexible gripping robotic arm. They use image algorithms to identify ripe bunches, and the air-cushioned gripper at the end of the robotic arm gently holds the stem, working in conjunction with a rotating shearing blade for damage-free harvesting. However, existing grape harvesting equipment still has some problems in use:

[0003] For example, a grape harvesting device with application number 202122079187.7 has the following technical solution: it includes a lifting mechanism and a harvesting mechanism; the lifting mechanism includes a base, a first hydraulic cylinder, a first movable block, an operating platform, four arc-shaped fixed blocks, two round rods, four rotating blocks, and two connecting rods. The first hydraulic cylinder is fixedly installed on the top of the base, the first movable block is fixedly installed on the output shaft of the first hydraulic cylinder, the operating platform is located above the base, and the four arc-shaped fixed blocks are all fixedly installed on the top of the base. The four arc-shaped fixed blocks are matched in pairs. However, when the baskets of grapes in the existing grape harvesting devices reach a certain weight, manual unloading is required, which is time-consuming and laborious. Manual handling can easily cause the baskets containing grapes to tip over, making transportation and docking impossible.

[0004] In view of this, in-depth research was conducted on the above issues, which led to the creation of this case.

[0005] To address the aforementioned issues, an innovative design was developed based on the existing grape harvesting equipment. Utility Model Content

[0006] The purpose of this invention is to provide a grape-harvesting device with a support mechanism to solve the problem of time-consuming and labor-intensive transportation of harvested grapes mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A grape-growing harvesting device with a support mechanism includes a housing, with casters at the bottom and a robotic arm on top. A control device is connected to the bottom of the robotic arm, a camera is located at the rear of the robotic arm, and a clamping shear is located at the end of the robotic arm. A harvesting frame is placed on a platform on the front of the housing, and an electric push rod is located at the rear of the harvesting frame. A baffle is located on the front of the harvesting frame, and the baffle forms a rotating structure. The baffle is tilted to form a transport structure for the harvesting frame.

[0009] Preferably, an electric push rod is fixedly installed on the rear inner side of the upper part of the device housing, and the front output end of the electric push rod is located on the rear side of the picking frame.

[0010] Using the above technical solution, the electric push rod is installed inside the rear of the equipment housing. Its output end acts on the rear of the picking frame, which can automatically push the picking frame forward, making it easier to transport and connect the grapes after picking and reducing manual handling.

[0011] Preferably, an electric telescopic mechanism is fixedly installed inside the lower rear side of the equipment housing, and a push block is connected and installed at the front output end of the electric telescopic mechanism.

[0012] Using the above technical solution, the electric telescopic machine is fixed inside the lower rear side of the equipment shell. The moving rod is driven by the push block to provide a power source for the supporting mechanism and realize the flipping control of the baffle.

[0013] Preferably, the push block is fixedly installed in the middle of the moving rod, and the left and right sides of the equipment housing are provided with sliding grooves, and the left and right ends of the moving rod are engaged in the sliding grooves.

[0014] Using the above technical solution, the two ends of the moving rod are engaged in the sliding groove to ensure smooth movement without deviation. The push block works in conjunction with the V-shaped rod to make the movement consistent and improve the stability of the support mechanism.

[0015] Preferably, the movable rod is provided with V-shaped rods on both the left and right sides, and a limiting groove is provided below the V-shaped rod, and the movable rod passes through the limiting groove.

[0016] Using the above technical solution, the limiting groove of the V-shaped rod cooperates with the moving rod to guide the V-shaped rod to rotate around the hinge point of the connecting rod, and precisely control the flip angle of the baffle to change from a vertical state to an inclined state.

[0017] Preferably, the V-shaped rods are all hinged to the connecting rods at their middle positions, and the connecting rods are connected and installed on the left and right sides inside the equipment housing.

[0018] With the above technical solution, the connecting rod is fixed to both sides inside the equipment housing, providing a hinge fulcrum for the V-shaped rod, making the flipping action of the baffle more flexible.

[0019] Preferably, the baffle is fixedly installed on the outer side of the V-shaped rod, and the baffle forms a flipping structure.

[0020] Using the above technical solution, the baffle is fixed to the outer side of the V-shaped rod and forms a flipping structure. When tilted, it can smoothly guide the grapes in the picking frame to the transport structure, and when vertical, it can prevent the grapes from slipping, thus serving both support and transport functions.

[0021] Compared with the prior art, the beneficial effects of this utility model are: the grape harvesting equipment with a support mechanism,

[0022] 1. An electric push rod is provided. An electric push rod is fixedly installed on the rear side of the inner side of the upper part of the equipment shell. The front output end of the electric push rod is located on the rear side of the picking frame. The electric push rod is installed on the rear side of the inner side of the equipment shell. Its output end acts on the rear side of the picking frame, which can automatically push the picking frame forward, which facilitates the transportation and docking of grapes after picking and reduces manual handling.

[0023] 2. Equipped with a baffle, the electric telescopic mechanism is fixed inside the lower rear of the equipment casing. The moving rod is driven by a push block. The limiting groove of the V-shaped rod cooperates with the moving rod to guide the V-shaped rod to rotate around the hinge point of the connecting rod, precisely controlling the flip angle of the baffle from a vertical state to an inclined state. When tilted, the grapes in the picking frame can be smoothly discharged into the transport structure. When vertical, it prevents the grapes from slipping, thus serving both support and transport functions. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall front structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the overall rear structure of this utility model;

[0026] Figure 3 This is a schematic diagram of the outer shell structure of the device of this utility model;

[0027] Figure 4 This is a schematic diagram of the inclined baffle structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the vertical structure of the baffle of this utility model.

[0029] In the diagram: 1. Equipment casing; 2. Casters; 3. Slide; 4. Control device; 5. Robotic arm; 6. Clamping shears; 7. Camera; 8. Electric push rod; 9. Harvesting frame; 10. Electric telescopic mechanism; 11. Push block; 12. Moving rod; 13. V-shaped rod; 14. Limiting groove; 15. Connecting rod; 16. Baffle. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Please see Figure 1-5 This utility model provides a technical solution:

[0032] A grape-growing harvesting device with a support mechanism includes a housing 1, with casters 2 at the bottom of the housing 1, a robotic arm 5 on top of the housing 1, a control device 4 connected to the bottom of the robotic arm 5, a camera 7 at the rear of the robotic arm 5, and a clamping shear 6 at the end of the robotic arm 5. A harvesting frame 9 is placed on the upper platform at the front of the housing 1, with an electric push rod 8 at the rear of the harvesting frame 9. A baffle 16 is provided at the front of the harvesting frame 9, and the baffle 16 forms a rotating structure and is inclined to form a transport structure for the harvesting frame 9.

[0033] An electric push rod 8 is fixedly installed on the rear side of the inner side of the upper part of the equipment housing 1. The front output end of the electric push rod 8 is located on the rear side of the picking frame 9. The electric push rod 8 is installed on the rear side of the inner side of the equipment housing 1. Its output end acts on the rear side of the picking frame 9, which can automatically push the picking frame 9 forward, which facilitates the transportation and docking of grapes after picking and reduces manual handling.

[0034] An electric telescopic mechanism 10 is fixedly installed on the lower rear side inside the equipment housing 1, and a push block 11 is connected and installed on the front output end of the electric telescopic mechanism 10. The push block 11 is fixedly installed in the middle of the moving rod 12. Slide grooves 3 are opened on the left and right sides of the equipment housing 1, and the left and right ends of the moving rod 12 are engaged in the slide grooves 3. The electric telescopic mechanism 10 is fixed on the lower rear side inside the equipment housing 1. The push block 11 drives the moving rod 12 to provide a power source for the support mechanism and realize the flipping control of the baffle 16. The two ends of the moving rod 12 are engaged in the slide grooves 3 to ensure that the movement is smooth and without deviation. The push block 11 works in conjunction with the movement of the V-shaped rod 13 to improve the stability of the support mechanism.

[0035] V-shaped rods 13 are provided on both the left and right sides of the movable rod 12, and a limiting groove 14 is opened at the bottom of the V-shaped rod 13. The movable rod 12 passes through the limiting groove 14. The middle position of the V-shaped rod 13 is hinged to the connecting rod 15, and the connecting rod 15 is connected and installed on the left and right sides inside the equipment shell 1. The baffle 16 is fixedly installed on the outer side of the V-shaped rod 13, and the baffle 16 forms a flipping structure. The limiting groove 14 of the V-shaped rod 13 cooperates with the movable rod 12 to guide the V-shaped rod 13 to rotate around the hinge point of the connecting rod 15, and precisely control the flipping angle of the baffle 16 from the vertical state to the tilted state. The connecting rod 15 is fixed on both sides inside the equipment shell 1, providing a hinge fulcrum for the V-shaped rod 13, making the flipping action of the baffle 16 more flexible. The baffle 16 is fixed on the outer side of the V-shaped rod 13 and forms a flipping structure. When tilted, it can smoothly guide the grapes in the picking frame 9 to the transport structure. When vertical, it prevents the grapes from slipping, and has both support and transport functions.

[0036] Working principle:

[0037] In use, the camera 7 is a high-definition visual sensor that, in conjunction with an AI image algorithm, identifies and scans mature grape bunches on the vine. The control device 4 generates the three-dimensional coordinates of the grape bunches through laser ranging. The robotic arm 5 drives the clamping shears 6 to move to the target position. The clamping shears 6 adopts a flexible airbag clamping method with adjustable clamping force. Combined with the rotating blade driven by a servo motor, it achieves non-destructive cutting of the grape stem. The harvested grape bunches fall into the harvesting frame 9 on the platform of the equipment housing 1. When the harvesting frame 9 needs to be unloaded, the electric telescopic mechanism 10 pushes the push block 11 forward. The moving rod 12 slides along the slide groove 3 and drives the V-shaped rod 13 to rotate around the connecting rod 15. The limiting groove 14 guides the V-shaped rod 13 to flip the baffle 16 from a vertical state to an inclined state. The electric push rod 8 pushes the harvesting frame 9 from the rear side to automatically roll it into the external transport structure along the slope of the baffle 16. After unloading, the electric telescopic mechanism 10 retracts, the moving rod 12 moves backward, and the baffle 16 returns to a vertical state, preventing the subsequent harvested grapes from slipping.

[0038] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A grape-harvesting device with a support mechanism, comprising a housing (1), wherein the bottom of the housing (1) is provided with casters (2), and a robotic arm (5) is provided on the top of the housing (1), wherein a control device (4) is connected to the bottom of the robotic arm (5), and a camera (7) is provided on the rear side of the robotic arm (5), and a clamping shear (6) is provided at the end of the robotic arm (5), characterized in that: A picking frame (9) is placed on the upper front platform of the equipment housing (1), and an electric push rod (8) is provided on the rear side of the picking frame (9). A baffle (16) is provided on the front side of the picking frame (9), and the baffle (16) forms a rotating structure. The baffle (16) is tilted to form a transport structure for the picking frame (9).

2. The grape-harvesting equipment with a support mechanism according to claim 1, characterized in that: An electric push rod (8) is fixedly installed on the rear side of the inner side of the upper part of the equipment housing (1), and the front output end of the electric push rod (8) is located on the rear side of the picking frame (9).

3. A grape-harvesting device with a support mechanism according to claim 1, characterized in that: An electric telescopic machine (10) is fixedly installed on the lower rear side inside the housing (1) of the equipment, and a push block (11) is connected and installed on the front output end of the electric telescopic machine (10).

4. A grape-harvesting device with a support mechanism according to claim 3, characterized in that: The push block (11) is fixedly installed in the middle of the moving rod (12). The equipment shell (1) has sliding grooves (3) on both the left and right sides, and the left and right ends of the moving rod (12) are engaged in the sliding grooves (3).

5. A grape-harvesting device with a support mechanism according to claim 4, characterized in that: The movable rod (12) is provided with V-shaped rods (13) on both the left and right sides, and a limiting groove (14) is provided below the V-shaped rod (13), and the movable rod (12) passes through the limiting groove (14).

6. A grape-harvesting device with a support mechanism according to claim 5, characterized in that: The V-shaped rod (13) is hinged to the connecting rod (15) at the middle position, and the connecting rod (15) is connected and installed on the left and right sides inside the equipment housing (1).

7. A grape-harvesting device with a support mechanism according to claim 6, characterized in that: The baffle (16) is fixedly installed on the outer side of the V-shaped rod (13), and the baffle (16) forms a flip structure.

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