CN113330916B - Grape picking mechanism, integrated device and method - Google Patents
Grape picking mechanism, integrated device and method Download PDFInfo
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- CN113330916B CN113330916B CN202110769257.3A CN202110769257A CN113330916B CN 113330916 B CN113330916 B CN 113330916B CN 202110769257 A CN202110769257 A CN 202110769257A CN 113330916 B CN113330916 B CN 113330916B
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- picking
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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
- A01D46/30—Robotic devices for individually picking crops
Abstract
The present disclosure provides a grape picking mechanism, an integrated device and a method, comprising: the picking device comprises a mechanical arm unit and a picking unit; the picking unit comprises a rotating mechanism, a shearing mechanism and a clamping mechanism, wherein the shearing mechanism and the clamping mechanism are installed on one side of the rotating mechanism, a set distance is reserved between the shearing mechanism and the clamping mechanism, the clamping mechanism is used for clamping the stems at the roots of the grapes, and the shearing mechanism is used for shearing the stems of the grapes; the mechanical arm unit comprises a base, a first rotating arm and a second rotating arm which are sequentially connected, and one end of the second rotating arm is connected with the rotating mechanism of the picking unit; the problems that the existing uncooked grapes are mainly picked manually, labor intensity is high, time and labor are wasted, picking efficiency is low, labor cost is high and the like are solved, and grape picking efficiency and precision can be effectively improved.
Description
Technical Field
The utility model discloses the technical field of crop picking equipment, in particular to a grape picking mechanism, an integrated device and a method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Grapes, a vine of the family vitidae, are one of the oldest fruit tree species in the world. The grapes are native to the west of Asia, are cultivated all over the world, and have large artificial cultivation area. The grape is rich in nutrition, various in variety, sweet and delicious in taste, and is deeply loved by people. The grape has great edible and medicinal value, and can be eaten directly or made into raisin and wine. The grape root and vine have effects of relieving vomit and preventing miscarriage, and the fruit can prevent thrombosis. The existing uncooked grapes are mainly picked manually, and the problems of high labor intensity, time and labor waste, low picking efficiency, high labor cost and the like exist. Therefore, further improvement and improvement are urgently needed in the prior art.
Disclosure of Invention
In order to solve the above problems, the present disclosure proposes a grape picking mechanism, an integrated device and a method.
In a first aspect, the present disclosure provides a grape picking mechanism comprising: the picking machine comprises a mechanical arm unit and a picking unit;
the picking unit comprises a rotating mechanism, a shearing mechanism and a clamping mechanism, wherein the shearing mechanism and the clamping mechanism are installed on one side of the rotating mechanism, a set distance is reserved between the shearing mechanism and the clamping mechanism, the clamping mechanism is used for clamping the stems at the roots of the grapes, and the shearing mechanism is used for shearing the stems of the grapes;
the mechanical arm unit comprises a base, a first rotating arm and a second rotating arm which are sequentially connected, and one end of the second rotating arm is connected with the rotating mechanism of the picking unit.
In a second aspect, the present disclosure provides a grape picking integrated device comprising: the grape picking mechanism comprises a vehicle body, a foldable containing box, a lifting device and the grape picking mechanism according to the embodiment, wherein the lifting device is arranged in the center of the top surface of the vehicle body, the foldable containing box is installed at the top of the lifting device, and the grape picking mechanism is installed on one side of the top surface of the vehicle body.
In a third aspect, the present disclosure provides a working method of the grape picking integrated device according to the second aspect, including:
clamping the root of the grape by a clamping mechanism of the picking unit;
the stem at the root of the grape is cut off by a shearing mechanism;
the grapes are placed in a foldable containing box in the middle of the top surface of the cart body through a mechanical arm unit.
Compared with the prior art, this disclosure possesses following beneficial effect:
1. the grape picking unit comprises a rotating mechanism, a shearing mechanism and a clamping mechanism, wherein the shearing mechanism and the clamping mechanism are installed on one side of the rotating mechanism, a set distance is reserved between the shearing mechanism and the clamping mechanism, the clamping mechanism is used for clamping stems at the roots of grapes, the shearing mechanism is used for shearing the stems of the grapes, the roots of the grapes are clamped by clamps, branches of the grapes where the grapes are located are sheared by blades, then the picked grapes are placed into a foldable containing box which is unfolded above the middle of a vehicle body through rotation of a mechanical arm, and grape picking efficiency and grape picking precision can be effectively improved through cooperation of deep learning and visual recognition technology.
2. This openly adopts collapsible containing box to store and lifting device is located the frame top surface positive center, two vision recognition cameras are located the arm respectively and carry out terminal upper portion and the automobile body on install watch the pole top of watching, servo motor all is equipped with in every joint department, put into the containing box that automobile body upper portion expandes with the arm for the grape that has been discerned and deem ripe, and can place it through containing box placer after the containing box is filled with it to ground, the containing box that is new simultaneously is stored and lifting device is delivered to the operating position by collapsible containing box, it mainly adopts artifical the picking to have solved the grape that the live food is eaten now, there is intensity of labour big, waste time and energy, picking inefficiency, the high problem of labor cost, grape picking efficiency has been improved, the workman labour has been reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application, and the description of the exemplary embodiments and illustrations of the application are intended to explain the application and are not intended to limit the application.
Fig. 1 is a front view of the structure of the grape picking integrated equipment of the present disclosure;
fig. 2 is a structural perspective view of the grape picking integrated apparatus of the present disclosure;
FIG. 3 is a structural right side view of the integrated grape picking apparatus of the present disclosure;
FIG. 4 is a schematic view of a collapsible container storage and lifting device of the present disclosure;
FIG. 5 is an upper cross-sectional view of the vehicle body of the present disclosure;
FIG. 6 is a detailed block diagram of the push arm of the present disclosure;
fig. 7 is a schematic view illustrating a state of the folding box being placed on the ground by the pushing arm according to the present disclosure;
wherein: 11. a clamping mechanism; 12. a shearing mechanism; 13. a rotation mechanism; 14. a second rotating arm; 15. a first rotation arm; 16. a gear structure; 17. a first servo motor; 21. a first video recognition camera; 22. a second video recognition camera; 23. a lookout pole; 410. connecting sheets; 411. a second rotation shaft; 412. a first rotating shaft; 413. connecting sheets; 414. a servo motor; 41. a mechanical clamp; 42. connecting sheets; 43. a fourth rotation axis; 44. a motor; 45. a first electric push-pull rod; 46. a second electric push-pull rod; 47. a rotating shaft; 48. a third rotation axis; 31. a box body; 32. a screw; 33. a motor; 34. a drive chain; 61. a crawler; 62. a frame; 63. a second servo motor; 64. and (4) a storage battery.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure herein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example 1
As shown in fig. 1, a grape picking mechanism comprises: the picking unit comprises a rotating mechanism, a shearing mechanism and a clamping mechanism, wherein the shearing mechanism and the clamping mechanism are mounted on one side of the rotating mechanism, a set distance is reserved between the shearing mechanism and the clamping mechanism, the clamping mechanism is used for clamping the stems at the roots of the grapes, and the shearing mechanism is used for shearing the stems of the grapes; the mechanical arm unit comprises a base, a first rotating arm and a second rotating arm which are sequentially connected, and one end of the second rotating arm is connected with the rotating mechanism of the picking unit.
As an embodiment, picking mechanism still includes the vision recognition unit, and the vision recognition unit includes vision recognition camera and treater, and the vision recognition camera is located the lookout pole top of installing on picking unit upper portion and the automobile body respectively, and the vision recognition camera is used for gathering the image data of grape to transmit to the treater, the treater is used for handling the analysis to image data and judges whether ripe grape, and confirms the position of grape root stem stalk, utilizes to pick the unit and picks the grape.
The base comprises a central bearing, a rotatable gear structure and a supporting seat, the tooth row structure is installed on the central bearing, the supporting seat is installed on the upper surface of the tooth row structure, and the supporting seat is used for installing a first rotary mechanical arm.
The shearing mechanism comprises a first gear transmission structure and two tooth row blades, the two tooth row blades are connected with the first gear transmission structure, and the first gear transmission structure is used for driving the tooth row blades to rotate by a set angle to realize shearing action.
The shearing mechanism comprises a second gear transmission structure and two clamps, the two clamps are connected with the second gear transmission structure, and the second gear transmission structure is used for driving the two clamps to rotate by a set angle to realize clamping action.
The tooth-shaped blades are right triangles, and the cutting edges of the two tooth-row blades are arranged in a staggered manner; the clips are arc-shaped, and the two clips are symmetrically arranged in a splayed shape.
In a specific embodiment, the shearing mechanism is directly connected with the rotating mechanism through a bolt, and the shearing part of the shearing mechanism consists of special blades and is characterized in that the inner side of the shearing mechanism is in a gear shape, the outer side of the shearing mechanism is provided with sharp blades, gear parts of the two mechanisms are meshed in the protective shell, and the sharp blades are exposed outside. The clamping mechanism is arranged right below the shearing mechanism, and is characterized in that the inner side of each clamping component of the clamping device is in a gear shape, the outer side of each clamping component of the clamping device is provided with a clamp, and gear parts of the two components are mutually meshed in a protective shell. The rotating mechanism is a wrist simulation mechanism, the first mechanical arm is a big arm, and the second mechanical arm is a small arm.
The mechanical arm unit comprises a base, a first rotating arm 15 and a second rotating arm 14, wherein the root of the first rotating arm 15 is connected with a gear structure 16 capable of rotating around a shaft, a center bearing of the structure protrudes downwards and is provided with a threaded mounting hole, and the threaded mounting hole can be aligned with a mounting hole in a vehicle body and connected through a bolt so that the whole gear structure is fixed on the vehicle body. The periphery of the gear structure can rotate around the fixed central bearing, and the root of the mechanical arm unit is connected with the output end of the servo motor 17 on the periphery of the gear structure in a bolt connection mode. The outermost layer of tooth profile of the gear structure is meshed with a gear at the output end of a servo motor 17 arranged beside, and the whole operation of the mechanical arm unit is realized by the work of the motor. The rotating mechanism is a wrist simulation mechanism, one end of the rotating mechanism is connected with the second rotating arm, the other end of the rotating mechanism is provided with a rotating table, and the rotating table is provided with a shearing mechanism and a clamping mechanism.
The mechanical arm unit has three joints which are respectively arranged at the joints of the root part of the mechanical arm and the periphery of the gear structure; the first rotating arm 15 and the second rotating arm 14 are connected, the second rotating arm 14 and the rotating mechanism 13 are connected, the first two joints can rotate around the shaft 90 under the control of the PLC control module through the servo motors 17, and the rotating mechanism 13 can rotate around the x, y and z axes by 50 degrees through the matching of the two servo motors 17.
The acquisition unit comprises a shearing mechanism 12, a clamping mechanism 11 and a rotating mechanism 13, the shearing mechanism 12 is directly connected with the rotating mechanism 13 through bolts, the shearing part consists of specially-made blades, the inner side of the shearing part is in a gear shape, the outer side of the shearing part is a sharp blade, gear parts of the two mechanisms are meshed in the protective shell, and the sharp blade part is exposed outside; the clamping mechanism 11 of the mechanical arm acquisition unit is arranged right below the shearing mechanism 12, the inner side of each clamping component of the clamping device 11 is in a gear shape, the outer side of each clamping component is provided with a clamp, and gear parts of the two components are mutually meshed in the protective shell. The middle position of the exposed blade of the shearing mechanism 12 is aligned with the position clamped by the closed clamp of the clamping mechanism 11, when the grape vine harvester works, the root of a grape is clamped by the clamp, then the branch of the grape vine where the grape is located is sheared by the blade, and then the picked grape is placed into the box 31 which is unfolded above the middle part of the grape body by the rotation of the mechanical arm 1.
Example 2
The utility model provides an integrated device is picked to grape, includes automobile body, collapsible containing box, lifting device and like embodiment the grape harvesting mechanism, the top surface center department of automobile body sets up the lifting device, and collapsible containing box is installed at the lifting device top, and the grape harvesting mechanism is installed in top surface one side of automobile body.
The foldable containing box comprises a box body, a screw rod, a transmission chain and a motor which are connected in sequence.
The lifting device comprises a telescopic hydraulic rod, a rotating shaft and a servo motor which are connected in sequence, one end of the telescopic hydraulic rod is connected with the box body, and the servo motor is used for driving the electric telescopic rod to rotate through the rotating shaft.
The vehicle body is of a steel three-dimensional frame structure;
in a specific embodiment, the foldable storage box includes a box 31, a screw 33, a motor 32, and a transmission chain 34. The motor 32 is installed at the bottom of the vehicle body, the output end faces downwards and is provided with a gear, the teeth of the gear are matched with the gap on the transmission chain 34, the other section of the transmission chain 34 is matched with the gear at the bottom of the screw 33, after the box body 31 which participates in the work at the uppermost layer is filled and moved away, the motor 32 works and drives the screw 33 to rotate, all the existing storage boxes move upwards uniformly, the hard edges at two sides of the storage box 31 at the uppermost layer are clamped by the clamping mechanism 11 of the storage box arranging device and lifted upwards, and the box body 31 enters a working state.
The lifting device comprises: the telescopic hydraulic rod can be powered and rotated by two motors 44 positioned at the rear upper part of the vehicle body. After the system detects that grapes in the box 31 are filled, the motors 44 on the left side and the right side of the box 31 can drive the mechanical clamps 41 to clamp horizontal rods on the folding box from the left side and the right side of the box, then the servo motor 49 drives the electric telescopic rod 45 to rotate anticlockwise through the rotating shaft 48, the electric telescopic rod 45 further drives the electric telescopic rod 46 to rotate around the shaft 411 in a synchronous manner with the electric telescopic rod 45 through the connecting sheet 413 in the rotating process, and the folding box filled with grapes is lifted from the vehicle body through the combined work of the two telescopic rods.
In order to prevent the folding box from turning over forward and backward during the process of placing the folding box on the ground, the four rotating shafts, i.e. the first rotating shaft 412, the second rotating shaft 411, the third rotating shaft 48 and the fourth rotating shaft 43, form a parallelogram structure, and the connecting piece 413 is always kept perpendicular to the ground by utilizing the parallel property of opposite sides of the parallelogram. Connection piece 413 is complete relatively fixed with axle 411 and is connected, relative rotation can not take place, and first electric telescopic handle 45 passes through bearing and axle 411 smooth articulated together, can take place to rotate, so connection piece 42 can keep perpendicular situation with the folding box always, and connection piece 42 can keep perpendicular with ground in whole rotatory process, know whole process folding box can keep parallel with ground by the corresponding relation, this has just guaranteed to place the whole process box of case to ground and can not take place the front and back slope. The bottom of the applicable foldable containing box is provided with two specially-made threaded holes matched with the two screws, and the box body is compressed into a flat shape when being stored in a concentrated mode and can be lifted and deepened when being used.
Since the folding box 31 is closer to the servo motor on the vehicle body and is further away from the servo motor 414 at the position where the folding box is placed on the ground, in order to prevent the rod member from being short in length during the rotation process, the two electric push-pull rods during the rotation process, the second electric push-pull rod 46 and the first electric push-pull rod 45 can be simultaneously extended to a fixed length and then keep the length unchanged until the box body is placed on the ground (as shown in fig. 5), then the motor 44 drives the mechanical clamp 41 to loosen the horizontal rod member on the folding box, the servo motor drives the two electric telescopic rods to return to the position in fig. 4, the two telescopic rods are shortened and restored to the original level during the rotation process, and then the whole process is repeated.
The vehicle body includes a crawler 61, a frame 62, a servo motor 63, and a battery 64. The servo motor 63 drives the crawler belt 61 to rotate under the control of the control system to realize the movement of the machine; the frame 62 is welded from structural steel and serves as a structural member of the machine for supporting all components of the entire machine; the battery 62 is responsible for powering the operation of the machine.
Still include control system, control system includes PLC control module and degree of depth study module, and two are accomodate in an individual cabin and are installed on the mounting panel in automobile body middle part. The control system is used for controlling various mechanisms of the vehicle body, wherein the machine can identify the maturity of grapes and judge whether the grapes are picked or not under the support of a deep learning algorithm, and meanwhile, information can be fed back for the motion of the mechanical arm to assist the mechanical arm in moving to complete a picking task. The control system can control the movement of the mechanical arm and the movement of the vehicle body through PLC control.
Example 3
A working method of a grape picking integrated device comprises the following steps:
clamping the root of the grape by a clamping mechanism of the picking unit;
the stem at the root of the grape is cut off by a shearing mechanism;
the grapes are placed into a foldable containing box in the middle of the top surface of the trolley body through the mechanical arm unit.
Specifically, during operation, the grape roots are clamped by the clamps, then the branches of the grape vines where the grapes are located are cut by the blades, and then the picked grapes are placed into the unfolded foldable containing box 31 above the middle part of the cart body through rotation of the mechanical arm 1.
After the uppermost foldable storage box 31 is filled and removed, the motor 32 is operated to rotate the screw 33, so that all the existing storage boxes move upward uniformly, and the hard edges at both sides of the uppermost storage box 31 are clamped by the clamping mechanism 11 of the storage box placement device and lifted upward, so that the storage box 31 enters an operating state.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (9)
1. The utility model provides an integrated device is picked to grape which characterized in that includes: the picking device comprises a vehicle body, foldable containing boxes, lifting devices and picking mechanisms, wherein the lifting devices are arranged in the centers of the top surfaces of the vehicle body, the foldable containing boxes are mounted at the tops of the lifting devices, and horizontal rods on the foldable containing boxes are clamped from the left side and the right side of the box body through mechanical clamps; the picking mechanism is arranged on one side of the top surface of the vehicle body;
the lifting device comprises an electric telescopic rod, a rotating shaft and a servo motor which are connected in sequence; the electric telescopic rods comprise a first electric telescopic rod and a second electric telescopic rod, and are smoothly hinged with the rotating shaft through bearings; the rotating shafts comprise a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft, and the four rotating shafts form a parallelogram structure; the servo motor is used for driving the first electric telescopic rod to rotate through the rotating shaft; the first electric telescopic rod further drives the second electric telescopic rod to synchronously rotate through the connecting sheet, and the first electric telescopic rod is used for supporting the foldable containing box filled with grapes from the vehicle body; the connecting piece is fixedly connected with the rotating shaft and is vertical to the ground in the whole rotating process.
2. A grape picking integrated device as claimed in claim 1, in which the picking mechanism comprises a robotic arm unit and a picking unit;
the picking unit comprises a rotating mechanism, a shearing mechanism and a clamping mechanism, wherein the shearing mechanism and the clamping mechanism are arranged on one side of the rotating mechanism, a set distance is reserved between the shearing mechanism and the clamping mechanism, the clamping mechanism is used for clamping the stems at the roots of the grapes, and the shearing mechanism is used for shearing the stems of the grapes;
the mechanical arm unit comprises a base, a first rotating arm and a second rotating arm which are sequentially connected, and one end of the second rotating arm is connected with the rotating mechanism of the picking unit.
3. The grape picking integrated device as claimed in claim 2, wherein the shearing mechanism comprises a first gear transmission structure and two row of toothed blades, the two row of toothed blades are connected with the first gear transmission structure, and the first gear transmission structure is used for driving the row of toothed blades to rotate by a set angle to realize a shearing action; the tooth row blades are right-angled triangles, and the cutting edges of the two tooth row blades are arranged in a staggered mode.
4. A grape picking integrated device as claimed in claim 2, wherein the shearing mechanism comprises a second gear transmission structure and two clamps, the two clamps are connected with the second gear transmission structure, and the second gear transmission structure is used for driving the two clamps to rotate by a set angle to realize clamping action.
5. A grape picking integrated device as claimed in claim 4, wherein the clips are arcuate and the two clips are symmetrically arranged in a splayed configuration.
6. A grape picking integrated device as claimed in claim 2, in which the base comprises a central bearing on which the tooth row structure is mounted, a rotatable gear structure on which the support is surface mounted and a support for mounting the first rotary arm.
7. The grape picking integrated device as claimed in claim 2, wherein the picking mechanism further comprises a vision recognition unit, the vision recognition unit comprises a vision recognition camera and a processor, the vision recognition camera is mounted on the upper portion of the picking unit and the top of a watchpole mounted on a vehicle body; the visual identification camera is used for collecting image data of the grapes and transmitting the image data to the processor, and the processor is used for processing, analyzing and judging whether the grapes are mature or not and determining the positions of the roots and the stalks of the grapes.
8. A grape picking integrated device as claimed in claim 1, wherein the collapsible holding box comprises a box body, a screw, a drive chain and a motor connected in sequence.
9. A working method of the grape picking integrated device as claimed in any one of claims 1 to 8, which comprises the following steps:
clamping the root of the grape through a clamping mechanism of the picking unit;
the stem at the root of the grape is cut off by a shearing mechanism;
placing the grapes into a foldable containing box in the middle of the top surface of the vehicle body by using a mechanical arm unit;
the containing box filled with grapes is lifted from the vehicle body through the combined work of the two electric telescopic rods, the containing box is synchronously extended to a fixed length and then kept unchanged in length until the containing box is placed on the ground, then the motor drives the mechanical clamp to loosen a horizontal rod piece on the containing box, and the servo motor drives the two electric telescopic rods to be shortened and restored to the original level;
after the foldable containing boxes which participate in the work on the uppermost layer are moved away, the motor works and drives the screw rods to rotate, all the existing containing boxes move upwards uniformly, the hard edges on two sides of the containing boxes on the uppermost layer are clamped by the mechanical clamp to lift upwards, and the containing boxes are enabled to enter a working state.
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| CN202110769257.3A CN113330916B (en) | 2021-07-07 | 2021-07-07 | Grape picking mechanism, integrated device and method |
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| CN202110769257.3A CN113330916B (en) | 2021-07-07 | 2021-07-07 | Grape picking mechanism, integrated device and method |
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| CN113330916B true CN113330916B (en) | 2023-03-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1463091A (en) * | 1974-07-08 | 1977-02-02 | British Mathews Ltd | Apparatus for inverting cases crates and the like |
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| US8336893B2 (en) * | 2010-12-29 | 2012-12-25 | Dario Grossberger | Strawberry picking cart |
| IT201700099467A1 (en) * | 2017-09-05 | 2019-03-05 | Cottlab Ltd | Self-propelled robotic harvester for the selective collection of agricultural crops in high quality rows |
| CN107667670B (en) * | 2017-11-03 | 2023-07-25 | 山东农业大学 | Nondestructive intelligent grading harvester for hedge wall type fresh grapes and control method thereof |
| CN111422610A (en) * | 2020-03-30 | 2020-07-17 | 黄金榜 | Rotary carrying robot |
| CN112061797B (en) * | 2020-08-26 | 2022-05-06 | 山东军成机械科技有限公司 | Stacking manipulator |
| CN112677134A (en) * | 2021-01-18 | 2021-04-20 | 上海氧磊玩具有限公司 | Anti-slip transfer robot |
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