CN209234317U - A kind of castatopsis fissa grape picking machine - Google Patents
A kind of castatopsis fissa grape picking machine Download PDFInfo
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- CN209234317U CN209234317U CN201821963948.7U CN201821963948U CN209234317U CN 209234317 U CN209234317 U CN 209234317U CN 201821963948 U CN201821963948 U CN 201821963948U CN 209234317 U CN209234317 U CN 209234317U
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- grape
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- hoistable platform
- aid
- harvest
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Abstract
The utility model discloses a kind of castatopsis fissa grape picking machines, harvest case and hoistable platform are set side by side on a mobile platform, transmission device is fixedly connected with hoistable platform, transmission device is located at the surface of harvest case, picker is fixed on hoistable platform, and control device is electrically connected with mobile platform, hoistable platform and picker respectively；It is provided with handstand cone bucket on transmission device, telescoping tube is provided between transmission device and harvest case, telescoping tube both ends are respectively communicated with the handstand cone bucket and the harvest case.Mobile platform drives harvest case, hoistable platform, transmission device, picker and control device mobile, the picking of grape is completed in hoistable platform and picker cooperation, the handstand cone bucket being put into after picking in transmission device, it is entered in harvest case into the grape in the cone bucket that stands upside down by telescoping tube, since telescoping tube has certain buffer function, and then it can guarantee damage of the reduction to grape during vendage.
Description
Technical field
The utility model relates to grapes to pick technical field, and in particular to a kind of castatopsis fissa grape picking machine.
Background technique
Grape is Vitaceae Vitis bejuco, and grape is delicious and tasty, nutritive value is high, main component glucose
It can be directly absorbed by the body, also contain mineral calcium, potassium, phosphorus, iron and multivitamin and a variety of amino needed by human
Acid.
If grape damages, it will cause the losses of multiple nutritional components in grape for juice outflow.Therefore grape is being carried out
When picking, only the integrality of guaranteed grape particle is not destroyed, and the nutritional ingredient being rich in grape could be made not to be lost.
But the mode of grape-picking is typically all after taking grape harvest, to be put into Picking basket in traditional technology, it is whole
It fully relies on and is accomplished manually in a picking process.After picking, it is also necessary to carry out grape according to maturity, quality good or not
Classification.The damage of grape is be easy to cause in picking and assorting process.
Utility model content
In order to solve the above-mentioned technical problem the utility model provides, the utility model is to be achieved through the following technical solutions
:
In a first aspect, the utility model embodiment provides a kind of castatopsis fissa grape picking machine, comprising: mobile platform, receipts
Obtain case, hoistable platform, transmission device, picker and control device, in which: the harvest case and the hoistable platform are set side by side
It sets on the mobile platform, the transmission device is fixedly connected with the hoistable platform, and the transmission device is located at the receipts
Obtain the surface of case, the picker is fixed on the hoistable platform, the control device respectively with the movement
Platform, the hoistable platform and picker electrical connection；Handstand cone bucket, the transmission dress are provided on the transmission device
It sets and is provided with telescoping tube between the harvest case, the telescoping tube both ends are respectively communicated with the handstand cone bucket and the harvest
Case；The picker includes: firm banking, mechanical arm and seed harvester, and the firm banking is fixed at the lifting
On platform, the mechanical arm is flexibly connected with the firm banking and the seed harvester respectively；The control device includes: control
Device processed, display equipment, driving equipment and acquisition equipment, the controller respectively with the display equipment, the driving equipment and
The acquisition equipment electrical connection, the driving equipment distinguish the hoistable platform, the picker and mobile platform electricity
Connection.
Using above-mentioned implementation, mobile platform drives harvest case, hoistable platform, transmission device, picker and control
Device is mobile, and the picking of hoistable platform and picker cooperation completion grape is put into falling in transmission device after picking
Vertical cone bucket is entered in harvest case into the grape in the cone bucket that stands upside down by telescoping tube, since telescoping tube has certain buffering
Effect, and then can guarantee damage of the reduction to grape during vendage.
With reference to first aspect, in a first possible implementation of that first aspect, the harvest case is provided with multiple, more
A harvest case is arranged side by side, and multiple harvest casees correspond to multiple handstand and bore buckets, the corresponding handstand bore bucket with it is described
Telescoping tube is provided between harvest case.Multiple harvest casees are respectively used to place different grades of grape, and corresponding each receipts
Obtain case and be correspondingly arranged handstand cone bucket and telescoping tube, so as to avoid grape from picking after carry out secondary classification, reduce
Damage to grape.
The first possible implementation with reference to first aspect, in a second possible implementation of that first aspect, institute
Stating seed harvester includes aid parent, aid sliding block, aid device and shear, in which: the aid parent and the machine
Tool arm is flexibly connected, and the aid sliding block is flexibly connected with the aid parent, and the aid device and the shear are solid
Fixed to be arranged on the aid sliding block, the aid device and the shear are correspondingly arranged.Accommodate sliding block control aid dress
It sets after holding grape, then completes the accurate picking of grape by shear, avoid shearing from making mistakes, cause the damage of grape
Wound.
Second of possible implementation with reference to first aspect, in first aspect in the third possible implementation, institute
It states and a crane is set between hoistable platform and the mobile platform, the crane is separately connected the hoistable platform and described
Mobile platform.The setting of crane can control hoistable platform and reach suitable height and position, is conducive to the picking to grape.
Second of possible implementation with reference to first aspect, in the 4th kind of possible implementation of first aspect, institute
The case mouth edge for stating harvest case is provided with sensor.When the grape in harvest case is already filled with, sensor can prompt to replace
Harvest case, avoid harvest case fill after, grape, which is spilt, falls out the damage for causing grape.
Second of possible implementation with reference to first aspect, in the 5th kind of possible implementation of first aspect, institute
State aid apparatus surface package rubber layer.The setting of rubber layer increases the frictional force between aid device and grapevine, avoids
Aid, which falls off, causes shearing to make mistakes, and causes the grape to damage.
It with reference to first aspect or one to the five kind of any possible implementation in first aspect ground, can at the 6th kind of first aspect
In the implementation of energy, the mobile platform bottom setting position sensor and ultrasonic sensor.Ultrasonic sensor can
To detect barrier, when there is barrier prompt, position sensor can prompt Obstacle Position, to carry out barrier
It removes.This avoid grape picking machines to cause grape unrestrained because barrier jolts, so that grape be caused to damage.
6th kind of possible implementation with reference to first aspect, in the 7th kind of possible implementation of first aspect, institute
The position for stating four angles of mobile platform is provided with universal wheel, and wherein corresponding two universal wheels in direction of advance one end are driving
Wheel.
7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation of first aspect, institute
Stating acquisition equipment includes binocular camera.
Detailed description of the invention
The utility model will be further described below with reference to the accompanying drawings.
Fig. 1 is a kind of schematic perspective view of castatopsis fissa grape picking machine provided by the embodiment of the utility model；
Fig. 2 is a kind of side view of castatopsis fissa grape picking machine provided by the embodiment of the utility model；
Fig. 3 is a kind of structural schematic diagram of seed harvester provided by the embodiment of the utility model；
Symbol is expressed as in Fig. 1-3:
1- mobile platform, 2- harvest case, and 3- hoistable platform, 4- transmission device, 5- picker, 6-, which stands upside down, bores bucket, and 7- stretches
The draw, 8- firm banking, 9- mechanical arm, 10- seed harvester, 11- controller, 12- show equipment, 13- driving equipment, and 14- is adopted
Collect equipment, 15- accommodates parent, and 16- accommodates parent, and 17- accommodates device, 18- shear, 19- crane, 20- position sensing
Device, 21- ultrasonic sensor, 22- universal wheel.
Specific embodiment
In order to clarify the technical characteristics of the invention, explaining with reference to the accompanying drawing with specific embodiment this programme
It states.
Fig. 1 is a kind of schematic perspective view of castatopsis fissa grape picking machine provided by the embodiment of the utility model, and Fig. 2 is
A kind of side view of castatopsis fissa grape picking machine provided by the embodiment of the utility model.Referring to Fig. 1 and Fig. 2, the utility model is real
The castatopsis fissa grape picking machine for applying example offer includes: mobile platform 1, harvest case 2, hoistable platform 3, transmission device 4, picker
5 and control device.
The harvest case 2 and the hoistable platform 3 are disposed in parallel on the mobile platform 1, the hoistable platform 3 and institute
It states and a crane 19 is set between mobile platform 1, the crane 19 is separately connected the hoistable platform 3 and the mobile platform
1.The setting of crane 19 can control hoistable platform 3 and reach suitable height and position, is conducive to the picking to grape.It is described
Transmission device 4 is fixedly connected with the hoistable platform 3, and the transmission device 4 is located at the surface of the harvest case 2, described to adopt
Device and picking 5 is fixed on the hoistable platform 3, the control device respectively with the mobile platform 1, the hoistable platform
3 and the picker 5 be electrically connected.
It is provided with handstand cone bucket 6 on the transmission device 4, is provided with and stretches between the transmission device 4 and the harvest case 2
The draw 7,7 both ends of telescoping tube are respectively communicated with the handstand cone bucket 6 and the harvest case 2.One illustrative examples, it is described
Harvest case 2 is provided with multiple, and multiple harvest casees 2 are arranged side by side, multiple multiple handstand cone buckets 6 of the harvest casees 2 correspondence, right
Telescoping tube 7 is provided between the handstand cone bucket 6 answered and the harvest case 2, the case mouth edge of the harvest case 2 is provided with
Sensor.
The handstand cone bucket 6 being put into transmission device after picking passes through telescoping tube into the grape in the cone bucket 6 that stands upside down
7 enter in harvest case 2, since telescoping tube 7 has certain buffer function, and then can guarantee to reduce during vendage
Damage to grape.When the grape in harvest case 2 is already filled with, sensor can prompt replacement harvest case 2, avoid harvest
After case 2 is filled, grape, which is spilt, falls out the damage for causing grape.Moreover, multiple harvest casees 2 are respectively used to place different brackets
Grape, and corresponding each harvest case 2 is correspondingly arranged handstand and bores bucket 6 and telescoping tube 7, so as to avoid grape from picking
Secondary classification is carried out after finishing, reduces the damage to grape.
The picker 5 includes: firm banking 8, mechanical arm 9 and seed harvester 10, and the firm banking 8 is fixedly installed
On the hoistable platform 3, the mechanical arm 9 is flexibly connected with the firm banking 8 and the seed harvester 10 respectively.Such as figure
Shown in 3, the seed harvester 10 includes aid parent 15, aid sliding block 16, aid device 17 and shear 18, in which: institute
It states aid parent 15 to be flexibly connected with the mechanical arm 9, the aid sliding block 16 is flexibly connected with the aid parent 15, described
Aid device 17 and the shear 18 are fixed on the aid sliding block 16, the aid device 17 and the shearing
Device 18 is correspondingly arranged.After the aid control aid device 17 of sliding block 16 holds grape, then pass through the completion of shear 18 Portugal
The accurate picking of grape avoids shearing from making mistakes, causes the damage of grape.Wrap up rubber layer, rubber layer in 17 surface of aid device
Setting, increase aid device 17 and grapevine between frictional force, avoid aid fall off cause shearing make mistakes, cause Portugal
Grape damage.
The control device includes: controller 11, display equipment 12, driving equipment 13 and acquisition equipment 14, the control
Device 11 is electrically connected with the display equipment 12, the driving equipment 13 and the acquisition equipment 14 respectively, the driving equipment 13
The hoistable platform 3, the picker 5 and the mobile platform 1 are electrically connected respectively, and the acquisition equipment 14 includes binocular phase
Machine.
1 bottom of the mobile platform setting position sensor 20 and ultrasonic sensor 21.Ultrasonic sensor 21 can
To detect barrier, when there is barrier prompt, picking machine slows down and stops sounding an alarm.Position sensor 20 can prompt
Obstacle Position, to carry out the removing of barrier, after barrier is removed, controller 11 continue to control driving equipment 13 into
Row work.This avoid grape picking machines to cause grape unrestrained because barrier jolts, so that grape be caused to damage.
The position at four angles of the mobile platform 1 is provided with universal wheel 22, and wherein direction of advance one end is two corresponding
Universal wheel 22 is driving wheel.The flexibility that universal wheel 22 improves picking machine is set, and then can guarantee that picking machine can be effective
It avoids unexpectedly colliding, reduces the damage of grape.
As can be seen from the above embodiments, a kind of castatopsis fissa grape picking machine provided in this embodiment, comprising: mobile platform 1 is received
Obtain case 2, hoistable platform 3, transmission device 4, picker 5 and control device.The harvest case 2 and the hoistable platform 3 are arranged side by side
It is arranged on the mobile platform 1, the transmission device 4 is fixedly connected with the hoistable platform 3, and the transmission device 4 is located at
The surface of the harvest case 2, the picker 5 is fixed on the hoistable platform 3, the control device respectively with
The mobile platform 1, the hoistable platform 3 and the picker 5 are electrically connected.Handstand cone is provided on the transmission device 4
Bucket 6, is provided with telescoping tube 7 between the transmission device 4 and the harvest case 2,7 both ends of telescoping tube be respectively communicated with it is described
Vertical cone bucket 6 and the harvest case 2.The picker 5 includes: firm banking 8, mechanical arm 9 and seed harvester 10, the fixation
Pedestal 8 is fixed on the hoistable platform 3, the mechanical arm 9 respectively with the firm banking 8 and the seed harvester 10
It is flexibly connected.The control device includes: controller 11, display equipment 12, driving equipment 13 and acquisition equipment 14, the control
Device 11 is electrically connected with the display equipment 12, the driving equipment 13 and the acquisition equipment 14 respectively, the driving equipment 13
The hoistable platform 3, the picker 5 and the mobile platform 1 are electrically connected respectively.Mobile platform 1 drives harvest case 2, rises
Platform 3, transmission device 4, picker 5 and control device movement are dropped, and grape is completed in hoistable platform 3 and the cooperation of picker 5
Picking, the handstand cone bucket 6 being put into transmission device 4 after picking pass through telescoping tube 7 into the grape in the cone bucket 6 that stands upside down
It enters in harvest case, since telescoping tube 7 has certain buffer function, and then can guarantee reduction pair during vendage
The damage of grape.
It should be noted that, in this document, moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Certainly, above description is also not limited to the example above, and technical characteristic of the utility model without description can lead to
It crosses or realizes that details are not described herein using the prior art；Above embodiments and attached drawing are merely to illustrate the technology of the utility model
Scheme is not limitations of the present invention, Tathagata substitution, the utility model only in conjunction with and referring to preferred embodiment into
Go detailed description, those skilled in the art should understand that, those skilled in the art are practical new at this
The variations, modifications, additions or substitutions made in the essential scope of type also should belong to this without departure from the objective of the utility model
The claims of utility model.
Claims (9)
1. a kind of castatopsis fissa grape picking machine characterized by comprising mobile platform (1), harvest case (2), hoistable platform (3),
Transmission device (4), picker (5) and control device, in which:
The harvest case (2) and the hoistable platform (3) are disposed in parallel on the mobile platform (1), the transmission device (4)
It is fixedly connected with the hoistable platform (3), the transmission device (4) is located at the surface of harvest case (2), the picking dress
It sets (5) to be fixed on the hoistable platform (3), the control device is flat with the mobile platform (1), the lifting respectively
Platform (3) and the picker (5) electrical connection；
It is provided with handstand cone bucket (6) on the transmission device (4), is arranged between the transmission device (4) and the harvest case (2)
Have telescoping tube (7), telescoping tube (7) both ends are respectively communicated with handstand cone bucket (6) and the harvest case (2)；
The picker (5) includes: firm banking (8), mechanical arm (9) and seed harvester (10), and the firm banking (8) is solid
It is fixed to be arranged on the hoistable platform (3), the mechanical arm (9) respectively with the firm banking (8) and the seed harvester
(10) it is flexibly connected；
The control device includes: controller (11), display equipment (12), driving equipment (13) and acquires equipment (14), described
Controller (11) is electrically connected with the display equipment (12), the driving equipment (13) and the acquisition equipment (14) respectively, institute
State driving equipment (13) hoistable platform (3), the picker (5) and the mobile platform (1) electrical connection respectively.
2. castatopsis fissa grape picking machine according to claim 1, which is characterized in that the harvest case (2) be provided with it is multiple,
Multiple harvest casees (2) are arranged side by side, multiple corresponding multiple handstand cones bucket (6) of the harvest case (2), the corresponding handstand
Telescoping tube (7) are provided between cone bucket (6) and the harvest case (2).
3. castatopsis fissa grape picking machine according to claim 2, which is characterized in that the seed harvester (10) includes aid
Parent (15), aid sliding block (16), aid device (17) and shear (18), in which:
The aid parent (15) is flexibly connected with the mechanical arm (9), the aid sliding block (16) and the aid parent
(15) it being flexibly connected, the aid device (17) and the shear (18) are fixed on the aid sliding block (16),
The aid device (17) and the shear (18) are correspondingly arranged.
4. castatopsis fissa grape picking machine according to claim 3, which is characterized in that the hoistable platform (3) and the shifting
It is arranged between moving platform (1) crane (19), the crane (19) is separately connected the hoistable platform (3) and the movement
Platform (1).
5. castatopsis fissa grape picking machine according to claim 3, which is characterized in that the case mouth edge of harvest case (2)
It is provided with sensor.
6. castatopsis fissa grape picking machine according to claim 3, which is characterized in that the aid device (17) surface package
Rubber layer.
7. castatopsis fissa grape picking machine according to claim 1-6, which is characterized in that the mobile platform (1)
Position sensor (20) and ultrasonic sensor (21) is arranged in bottom.
8. castatopsis fissa grape picking machine according to claim 7, which is characterized in that four angles of the mobile platform (1)
Position be provided with universal wheel (22), wherein corresponding two universal wheels (22) in direction of advance one end be driving wheel.
9. castatopsis fissa grape picking machine according to claim 8, which is characterized in that the acquisition equipment (14) includes binocular
Camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821963948.7U CN209234317U (en) | 2018-11-27 | 2018-11-27 | A kind of castatopsis fissa grape picking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821963948.7U CN209234317U (en) | 2018-11-27 | 2018-11-27 | A kind of castatopsis fissa grape picking machine |
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| CN209234317U true CN209234317U (en) | 2019-08-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328652A (en) * | 2018-11-27 | 2019-02-15 | 山东农业大学 | A kind of castatopsis fissa grape picking machine and its control method |
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2018
- 2018-11-27 CN CN201821963948.7U patent/CN209234317U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328652A (en) * | 2018-11-27 | 2019-02-15 | 山东农业大学 | A kind of castatopsis fissa grape picking machine and its control method |
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