CN106852224B - A kind of automatic information collecting device based on wine-growing - Google Patents
A kind of automatic information collecting device based on wine-growing Download PDFInfo
- Publication number
- CN106852224B CN106852224B CN201611207697.5A CN201611207697A CN106852224B CN 106852224 B CN106852224 B CN 106852224B CN 201611207697 A CN201611207697 A CN 201611207697A CN 106852224 B CN106852224 B CN 106852224B
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- China
- Prior art keywords
- electric putter
- grape
- fixing seat
- hinged
- wine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
Abstract
A kind of automatic information collecting device based on wine-growing, including car body, the top of car body is installed by universal mechanical arm, connecting rod, the middle part of the hinged turning rod in the end of connecting rod is fixedly mounted in the side of the top mounting-fixing base of universal mechanical arm, fixing seat, one end of turning rod is located at the side installation motor of fixing seat, the output axis connection cutter of motor, the piston rod of hinged first electric putter of the other end of turning rod, the hinged fixing seat of the cylinder body of the first electric putter；The lower part of fixing seat is installed by support frame, two arc clamp holders, the end of arc clamp holder are installed, pressure sensor is installed in arc clamp holder inside on support frame, the piston rod of the second electric putter is hingedly installed in the side of arc clamp holder, and the cylinder body of the second electric putter is hingedly mounted on support frame.Grape can be divided into suitable vinifera, edibility grape, overdone grape and prematurity grape by the present invention, and classification is accurate, and picking is convenient, can satisfy the demand in market.
Description
Technical field
The invention belongs to wine-growing field, specifically a kind of automatic information collecting device based on wine-growing.
Background technique
China's wine-growing range is wide, and output is big.Grape is divided into vinifera and table grapes.Vinifera generally quilt
Large-scale winery purchase, what is sold in the common market of farm produce is mostly to use grape.As the improvement of people's living standards,
It is higher and higher from the demand of vintage wine.For general public, commercially available table grapes is mostly used to make wine.For grape pin
Sell quotient's grape for being also gladly suitble to wine brewing for market selected section in table grapes.Table grapes are isolated suitable for wine brewing
Grape generally point-of-sale terminal separate, cause in this way grape selection moving process in, cause the damage of grape, influence sale,
Wine brewing and edible quality.Currently, there are no a kind of dedicated units that can be separated in the starting point of grape acquisition.
Summary of the invention
The present invention provides a kind of automatic information collecting device based on wine-growing, to solve in the prior art lack
It falls into.
The present invention is achieved by the following technical programs:
Universal mechanical arm is installed on the top of a kind of automatic information collecting device based on wine-growing, including car body, car body,
Connecting rod, the hinged turning rod in the end of connecting rod is fixedly mounted in the side of the top mounting-fixing base of universal mechanical arm, fixing seat
Middle part, one end of turning rod be located at fixing seat side installation motor, the output axis connection cutter of motor, turning rod it is another
Hold the piston rod of hinged first electric putter, the hinged fixing seat of the cylinder body of the first electric putter；The lower part of fixing seat is installed by support frame, branch
Two arc clamp holders are installed on support, pressure sensor are installed on the inside of arc clamp holder, the side of arc clamp holder hingedly installs second
The cylinder body of the piston rod of electric putter, the second electric putter is hingedly mounted on support frame；The lower part of car body is equipped with former and later two undertakings
The smooth inclined plate in one piece of surface is installed in cabinet, each side for accepting cabinet, and hinged seat, the top hinge of hinged seat are installed on car body
It connects among the lower part for being mounted on oscillating deck, the piston rod of the lower part side articulated connection cylinder of oscillating deck, the cylinder body of cylinder is hinged
On the car body, the lower end of oscillating deck can cooperate with the upper end of inclined plate for installation.
The side of a kind of automatic information collecting device based on wine-growing as described above, the support frame is installed by water
Colour photometer is installed in flat third electric putter, the end of third electric putter, and the test mouth of colour photometer is towards outside.
A kind of automatic information collecting device based on wine-growing as described above, the section of the inclined plate are arc,
The arc of inclined plate is downwardly convex.
A kind of automatic information collecting device based on wine-growing as described above, the side of the fixing seat opens up knife
Slot, cutter are inserted into cutter groove.
The invention has the advantages that the present invention can classify to grape during grape is picked.Due to same a collection of Portugal
Grape maturation time differs soon substantially, therefore can complete once to pick, Direct Classification.Grape can be divided into suitable by the present invention
Vinifera, edibility grape, overdone grape and prematurity grape, classification is accurate, and picking is convenient, can satisfy the need in market
It asks.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is structural schematic diagram of the invention；Fig. 2 is the enlarged structure schematic diagram of the A direction view of Fig. 1；Fig. 3 is the B of Fig. 1
The enlarged structure schematic diagram of direction view；Fig. 4 is the enlarged structure schematic diagram of the cross-sectional view of the line C-C along Fig. 1.
Appended drawing reference: 1 car body, 26 motor of universal 3 fixing seat of mechanical arm 4 connecting rod, 5 turning rod, 7 cutter 8 first
It is oblique that 9 arc clamp holder of electric putter, 10 pressure sensor, 11 12 second electric putter of support frame, 13 colour photometer 14 accepts cabinet 15
19 cutter groove of plate 16 third electric putter, 17 oscillating deck, 18 cylinder, 20 hinged seat.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of automatic information collecting device based on wine-growing, as shown, including car body 1, the top of car body 1 is installed
Connecting rod 4, connecting rod 4 is fixedly mounted in the side of universal mechanical arm 2, the top mounting-fixing base 3 of universal mechanical arm 2, fixing seat 3
The hinged turning rod 5 in end middle part, one end of turning rod 5 be located at fixing seat 3 side installation motor 6, the output shaft of motor 6
Connect cutter 7, the piston rod of hinged first electric putter 8 of the other end of turning rod 5, the hinged fixing seat of cylinder body of the first electric putter 8
3, fixing seat 3 pushes out turning rod 5, and cutter 7 can be made mobile to 3 direction of fixing seat；The lower part of fixing seat 3 is installed by support frame
11, two arc clamp holders 9 are installed on support frame 11, pressure sensor 10, the side of arc clamp holder 9 are installed on the inside of arc clamp holder 9
The piston rod of the second electric putter 12 of hinged installation, the cylinder body of the second electric putter 12 are hingedly mounted on support frame 11；Under car body 1
Portion is equipped with former and later two and accepts cabinet 14, and the smooth inclined plate 15 in one piece of surface is installed in each side for accepting cabinet 14, on car body 1
Hinged seat 20 is installed, the top of hinged seat 20 is hingedly mounted among the lower part of oscillating deck 17, the lower part side hinge of oscillating deck 17
The piston rod of cylinder 18 is connect in succession, and the cylinder body of cylinder 18 is hingedly mounted on car body 1, and the lower end of oscillating deck 17 can be with inclined plate 15
Upper end cooperation.The present invention can classify to grape during grape is picked.Due to same a collection of grape maturity time base
This difference soon, therefore can be completed once to pick, Direct Classification.Grape can be divided into suitable vinifera, fitted by the present invention
Table grapes, overdone grape and prematurity grape are closed, classification is accurate, and picking is convenient, can satisfy the demand in market.
Specifically, in order to be further more accurately separated to grape, the side of support frame 11 described in the present embodiment
Colour photometer 13, the test mouth direction of colour photometer 13 are installed in the horizontal third electric putter 16 of portion's installation, the end of third electric putter 16
Outside.By third electric putter 16 by colour photometer 13 outward close to grape surface, colour photometer 13 measures the color of grape, general feelings
Under condition, color is deeper, and the maturity that represents is higher, and sugar content is also higher, more suitable wine brewing.First to colour photometer 13 1 marks
The color data of quasi- grape, such as by virtue of experience measurement is suitble to the color A of the grape of wine brewing and the color of edible grape
Numerical value B, the data of color can choose L, a, b, c, h etc., and the sample of color C, C point of each group of grape are measured by colour photometer 13
It is not compared with A, B, comparison obtains color difference, Δ L, Δ a, Δ b, Δ c, Δ h.If color difference is smaller compared with A, can sentence
It is set to the grape for being suitble to wine brewing, if value of chromatism is smaller compared with B, can be determined that as edible grape, if color
Value of chromatism is larger with A, B, in fact it could happen that measurement position mistake is readjusted the present invention and re-measured.
Specifically, the section of inclined plate 15 described in the present embodiment is arc, the arc of inclined plate 15 is downwardly convex.The inclined plate of arc
The 15 grape walkings for being able to maintain picking are carried out along the length direction of inclined plate 15, to fall directly into corresponding undertaking cabinet 14
It is interior, it avoids grape from being skidded off by the side of inclined plate 15 and falls to elsewhere.
Further, in order to protect to fixing seat 3, the side of fixing seat 3 described in the present embodiment opens up cutter groove 19,
Cutter 7 is inserted into cutter groove 19.Cutter 7 can be inserted to cutter groove 19 after cutting off grapevine, avoid in moving inward
The cutter 7 of rotation is directly contacted with fixing seat 3, effective protection fixing seat 3, also reduces the loss of cutter 7.When not in use, it cuts
Knife 7 can be placed in cutter groove 19, avoid cutter 7 is exposed from hurting sb.'s feelings.
Use process of the invention are as follows: in use, car body 1 is moved to grape vine frame lower part, by controlling universal machinery
The arc clamp holder 9 of opening is located at the side of cluster of grapes by arm 2, and cutter 7 is located at the side of the grapevine on the string grape top.It is first
It first passes through the second electric putter 12 inwardly to push, contacts arc clamp holder 9 with grape, sentenced by the result that pressure sensor 10 measures
The hardness of disconnected grape.(hardness of different grape varieties is different) based on practical experience, then the case where arc 9 same displacement of clamp holder
Under, the cell pressure for testing the known grape for being suitble to wine brewing is P1 and the cell pressure of edible grape is P2.
Displacement very little should not rack grape.Each group of Portugal is measured by the pressure sensor 10 of same displacement arc lower clamp holder 9
The cell pressure P3, P3 of grape are compared with P1, P2 respectively.If P3 and A ratio P1 is close, the Portugal to be suitble to wine brewing can be determined that
Grape can be determined that if P3 is close in P2 as edible grape, be ripe mistake if the numerical value very little of P3
In addition grape should be handled after picking, if the numerical value of P3 is very big, for also immature grape, be not suitable for picking.
Classified for the grape that can be picked according to test result, control cylinder 18 stretches, and keeps oscillating deck 17 corresponding extremely
It on the corresponding inclined plate 15 for accepting cabinet 14, drives cutter 7 to rotate by motor 6, turning rod 5 is pushed by the first electric putter 8,
Grapevine is cut off, grape is fallen on oscillating deck 17, is then slid into corresponding undertaking cabinet 14 along inclined plate 15.Oscillating deck
17 height should avoid damaging in grape dropping process as far as possible close to grape.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (4)
1. a kind of automatic information collecting device based on wine-growing, it is characterised in that: including car body (1), the top of car body (1)
It installs universal mechanical arm (2), the top mounting-fixing base (3) of universal mechanical arm (2), the side of fixing seat (3), which is fixedly mounted, to be connected
Extension bar (4), the middle part of the hinged turning rod in end (5) of connecting rod (4), one end of turning rod (5) are located at the side of fixing seat (3)
It installs motor (6), the output axis connection cutter (7) of motor (6), the work of hinged first electric putter (8) of the other end of turning rod (5)
Stopper rod, the hinged fixing seat of cylinder body (3) of the first electric putter (8)；Support frame (11) are installed in the lower part of fixing seat (3), support frame
(11) two arc clamp holders (9) are installed on, pressure sensor (10) are installed on the inside of arc clamp holder (9), the side of arc clamp holder (9)
The piston rod of hinged installation the second electric putter (12), the cylinder body of the second electric putter (12) are hingedly mounted on support frame (11)；Vehicle
The lower part of body (1) is equipped with former and later two and accepts cabinet (14), and it is smooth that one piece of surface is installed in each side for accepting cabinet (14)
Inclined plate (15) installs hinged seat (20) on car body (1), and the top of hinged seat (20) is hingedly mounted in the lower part of oscillating deck (17)
Between, the piston rod of lower part side articulated connection cylinder (18) of oscillating deck (17), the cylinder body of cylinder (18) is hingedly mounted on car body
(1) on, the lower end of oscillating deck (17) can cooperate with the upper end of inclined plate (15).
2. a kind of automatic information collecting device based on wine-growing according to claim 1, it is characterised in that: described
Colour photometer (13) are installed in the horizontal third electric putter (16) of the side installation of support frame (11), the end of third electric putter (16),
The test mouth of colour photometer (13) is towards outside.
3. a kind of automatic information collecting device based on wine-growing according to claim 1, it is characterised in that: described
The section of inclined plate (15) is arc, and the arc of inclined plate (15) is downwardly convex.
4. a kind of automatic information collecting device based on wine-growing according to claim 1, it is characterised in that: described
The side of fixing seat (3) opens up cutter groove (19), and cutter (7) is inserted into cutter groove (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611207697.5A CN106852224B (en) | 2016-12-23 | 2016-12-23 | A kind of automatic information collecting device based on wine-growing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611207697.5A CN106852224B (en) | 2016-12-23 | 2016-12-23 | A kind of automatic information collecting device based on wine-growing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106852224A CN106852224A (en) | 2017-06-16 |
| CN106852224B true CN106852224B (en) | 2019-05-28 |
Family
ID=59125877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611207697.5A Expired - Fee Related CN106852224B (en) | 2016-12-23 | 2016-12-23 | A kind of automatic information collecting device based on wine-growing |
Country Status (1)
| Country | Link |
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| CN (1) | CN106852224B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145712B (en) * | 2017-12-29 | 2020-07-31 | 深圳市越疆科技有限公司 | Method and device for sorting articles by robot and robot |
| CN108076831B (en) * | 2017-12-29 | 2021-02-02 | 重庆大学 | Self-adaptive double-screening hydraulic control picking device |
| CN108284075B (en) * | 2017-12-29 | 2020-06-19 | 深圳市越疆科技有限公司 | Method and device for sorting articles by robot and robot |
| CN108555901B (en) * | 2017-12-29 | 2023-07-21 | 深圳市越疆科技股份有限公司 | Method and device for sorting objects by robot and mechanical arm |
| CN108212807B (en) * | 2017-12-29 | 2021-12-31 | 深圳市越疆科技有限公司 | Method and device for sorting articles by robot and mechanical arm |
| CN108650995B (en) * | 2018-05-21 | 2021-06-25 | 遵义盛林农业发展有限公司 | Blueberry picking device |
| CN110431999B (en) * | 2019-08-09 | 2020-08-11 | 中国农业大学 | Gantry type automatic fruit harvesting robot |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201167486Y (en) * | 2008-01-31 | 2008-12-24 | 华南农业大学 | String-shaped fruits picking mechanical hand |
| CN204259425U (en) * | 2014-10-31 | 2015-04-15 | 西北农林科技大学 | A kind of kiwi fruit plucks grading robot automatically |
| CN104996083A (en) * | 2015-07-22 | 2015-10-28 | 重庆市双恩农机制造有限公司 | Receiving screening apparatus for picked fruits |
| CN105614904B (en) * | 2016-01-30 | 2017-07-11 | 苏州精协机械制造有限公司 | Gorgon fruit auto peeling machine |
| CN105900610B (en) * | 2016-06-08 | 2017-08-29 | 山东农业大学 | The lossless harvesting hierarchical intelligence all-in-one of Table Grape and its control method |
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2016
- 2016-12-23 CN CN201611207697.5A patent/CN106852224B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN106852224A (en) | 2017-06-16 |
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