CN113858170A - Intelligent manipulator for picking grapes - Google Patents
Intelligent manipulator for picking grapes Download PDFInfo
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- CN113858170A CN113858170A CN202111051447.8A CN202111051447A CN113858170A CN 113858170 A CN113858170 A CN 113858170A CN 202111051447 A CN202111051447 A CN 202111051447A CN 113858170 A CN113858170 A CN 113858170A
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- Prior art keywords
- picking
- grape
- grapes
- manipulator
- tray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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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
- A01D46/22—Baskets or bags attachable to the picker
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention belongs to the technical field of grapes, and particularly relates to an intelligent manipulator for picking grapes. This intelligent mechanical hand for grape is picked, through setting up supporting mechanism, can support the grape after many bunches of shearing, reduce the arm and return the time of placing the shearing grape, pneumatic finger can peg graft into the silica gel cell body when the piston rod of fixed pneumatic cylinder returns and contracts, it is internal to drive the grape and be located the silica gel cell body, place behind the grape in a silica gel cell body, fixed motor drives the tray and rotates, make the below that does not have the start-up finger of centre gripping grape to be located scissors subassembly carry out the second time and pick the grape, the arm drives the tray and removes to the top of collecting the frame, supporting motor drive apron takes place to deflect, be convenient for many bunches of grapes fall into in the collecting frame.
Description
Technical Field
The invention relates to the technical field of grape picking, in particular to an intelligent manipulator for picking grapes.
Background
The grape is woody vine of Vitis of Vitaceae, has cylindrical small branch, longitudinal rib, no hair or sparse soft hair, oval leaf, dense or sparse conical inflorescence, developed base branch, spherical or elliptical fruit, flowering phase of 4-5 months, and fruit phase of 8-9 months.
The grape of current vineyard is plucked through artifical or mechanical dual mode at the in-process that grape ripe was plucked, current manipulator is when plucking the grape, after the fruit stem through cutting off the grape, a string of grape that rethread arm will be sheared is placed in collecting the frame, it is consuming time longer, the work efficiency of plucking a string of grape has been increased, the phenomenon that the grape of shearing simultaneously appears dropping in the influence that removes the in-process suspension and receive gravity, current arm can only be plucked the grape on the grape trellis both sides that are located simultaneously, can't pluck the grape of grape trellis top, application range is limited, cause the practicality to reduce.
Disclosure of Invention
Based on the technical problems that the existing manipulator consumes a long time when picking grapes, the cut grapes fall off, the grapes above a grape trellis cannot be picked, the use range is limited, and the practicability is reduced, the invention provides the intelligent manipulator for picking grapes.
The invention provides an intelligent manipulator for picking grapes, which comprises a moving trolley, a lifting device, a picking manipulator and a collecting mechanism, wherein the lifting device is positioned on the inner bottom wall of a carriage of the moving trolley and adjusts the position of the picking manipulator according to the position of the grapes;
the picking mechanical arm is positioned on the upper surface of the lifting device and picks ripe grapes on the grape vine;
the collecting mechanism is located on the outer side face of the lifting device and collects the grapes picked by the picking manipulator.
Preferably, the lifting device comprises a plurality of lifting hydraulic cylinders, the lower surfaces of the plurality of lifting hydraulic cylinders are distributed and fixedly installed on the inner bottom wall of the moving trolley in an annular array manner, linkage plates are fixedly installed on piston rods of the lifting hydraulic cylinders, limiting pipe sleeves are fixedly installed on two sides of the lower surface of each linkage plate, limiting rods are inserted into the inner walls of the limiting pipe sleeves in a sliding manner, and supporting plates are fixedly installed at the upper ends of the limiting rods after penetrating through the upper surfaces of the linkage plates;
through above-mentioned technical scheme, slide in spacing pipe box through the gag lever post, can carry on spacingly to the backup pad, prevent that the backup pad from taking place other rocks and deflecting at the in-process that goes up and down, play limiting displacement to the backup pad.
Preferably, connecting plates are fixedly mounted on two sides of the inner bottom wall of the carriage of the moving trolley, two sides of each connecting plate are hinged with a scissor frame component through a pin shaft, the middle ends of the two scissor frame components are respectively hinged on the outer side surface of the linkage plate through pin shafts, and the other ends of the two scissor frame components are respectively hinged on two sides of the lower surface of the supporting plate through pin shafts;
through the technical scheme, wherein the scissors frame part comprises the connecting rod that articulates at the removal, form the scissors shape, the articulated connecting rod pin joint together in the middle of the scissors frame part articulates the lateral surface at the linkage board, the linkage board is along with hydraulic cylinder goes up and down, can drive the scissors frame part and expand and contract, scissors frame part upper end both ends articulate the lower surface at the backup pad through the round pin axle, thereby the scissors frame part can drive the backup pad and remove, the expansion and the contraction of scissors frame part can drive the backup pad and go up and down, the stroke that the backup pad removed has been increased, can support the backup pad simultaneously.
Preferably, the picking manipulator comprises a mechanical arm, a camera, a picking mechanism, a fixing mechanism and a supporting mechanism, the mechanical arm drives the picking mechanism to move correspondingly according to the position of picked grapes, the picking mechanism shears grape vines from grapes fixed by the fixing mechanism, the fixing mechanism fixes the grapes to be picked on the grape vines and prevents the picked grapes from moving, and the supporting mechanism can collect the picked grapes for supporting;
preferably, the lower surfaces of the plurality of mechanical arms are fixedly arranged on the upper surface of the support plate in a rectangular array, and the lower surfaces of the plurality of cameras are fixedly arranged on the outer side surface of one end of each mechanical arm;
through the technical scheme, the arm is five joint arms, joint department is provided with servo motor, five servo motor are direct to be passed through harmonic speed reducer ware, the rotation of five joint axles of drive such as synchronous pulley, can realize picking the grape of different positions, it is accurate to fix a position, catch the position of grape through the camera, the camera passes through the maturity that colour recognition module discerned the grape, control the arm and remove when grape maturity is up to standard, make fixed establishment can fix the fruit stem department that needs to pick the grape and connect, picking mechanism cuts off the fruit stem.
Preferably, the picking mechanism comprises a control housing, the upper surface of the control housing is fixedly mounted at one end of the mechanical arm, the inner bottom wall of the control housing is fixedly mounted with a picking motor, the output shaft of the picking motor is fixedly mounted with a rotary table, the inner wall of a notch of the control housing is fixedly mounted with a limit groove body, the inner wall of the limit groove body is inserted with a slide block in a sliding manner, the upper surface of the slide block is hinged with a scissors assembly through a pin shaft, the upper surface of one end of the scissors assembly is fixedly connected with a return spring, the other end of the return spring is fixedly connected with the upper surface of the other end of the scissors assembly, the center of the upper surface of the rotary table is fixedly mounted with an extrusion block, and two ends of the extrusion block are respectively connected with two ends of the scissors assembly in a sliding manner;
through the technical scheme, the picking motor drives the rotary table to rotate, the rotary table drives the extrusion block to rotate, the extrusion block is composed of a connecting rod and two convex blocks, the two convex blocks are symmetrically fixed on the connecting rod up and down, the scissors assembly comprises two connecting rods hinged together through a pin shaft, one end of one connecting rod is fixedly connected with a static blade, one end of the other connecting rod is fixedly connected with a dynamic blade, grape stems can be cut through the dynamic blade and the static blade, the two convex blocks on the extrusion block are respectively in sliding connection with the other ends of the two connecting rods on the scissors assembly, the hinged connecting rods can deflect to enable the dynamic blade and the static blade to deflect relatively to carry out shearing work, the working principle of the similar scissors is that the two connecting rods are vertically distributed and hinged and are respectively in sliding connection with the vertically distributed convex blocks, so that the upper convex block can deflect the connecting rod connected with the upper convex block in a sliding way through a hinge point in the rotating process, the lug of below can be at the rotation in-process with its sliding connection's connecting rod with the pin joint take place to deflect, below lug not with top connecting rod take place sliding connection, spacing cell body can carry on spacingly for the scissors subassembly can carry out horizontal migration.
Preferably, the upper surface of the turntable is provided with a sliding chute, the outer surface of the sliding block is fixedly provided with a limiting connecting plate, the inner wall of one end of the limiting connecting plate is connected to the outer surface of one end of the extrusion block in a sliding manner, and the lower surface of the limiting connecting plate is connected to the inner wall of the sliding chute in a sliding manner through a connecting column;
through the technical scheme, when the rotary table rotates, the connecting column fixedly connected with the lower surface of the limiting connecting plate can slide along with the track of the sliding groove, so that the limiting connecting plate can be pushed to drive the sliding block to horizontally move on the inner wall of the limiting groove body, the scissors assembly is driven to move forwards and cut, grape stems can be loosened when the scissors assembly is withdrawn, and the fixing mechanism is convenient to drive the grapes to move.
Preferably, the fixing mechanism comprises a fixing motor, the outer surface of the fixing motor is fixedly installed on the lower surface of the control casing, an output shaft of the fixing motor is fixedly provided with a tray, the upper surface of the tray is fixedly provided with a fixing hydraulic cylinder through a groove annular array, one end of a piston rod of the fixing hydraulic cylinder is fixedly provided with a pneumatic finger, the opposite surface of the claw of the pneumatic finger is fixedly provided with a pressure sensor, and the opposite surface of the claw of the pneumatic finger is fixedly provided with a rubber pad;
through the technical scheme, the fixed motor can drive the tray to rotate, so that one pneumatic finger can rotate after clamping grapes, the other pneumatic finger can be positioned below the scissor assembly to pick ripe grapes for the second time, the time for driving the picked grapes to return and convey into the collecting frame by the mechanical arm after picking a bunch of grapes by the existing picking mechanical arm is reduced, the second picking can be carried out, the pneumatic finger is an executing device which uses compressed air as power and is used for clamping or grabbing workpieces, relative movement is carried out by the claw in the pneumatic finger, after the fruit stem of the grape is clamped, the pressure sensor on the claw in the pneumatic finger detects the received pressure, when the pressure reaches a set threshold value, the movement of the claw in the pneumatic finger is stopped, the fruit stem of the grape is prevented from being broken, and the grape drops are prevented, the rubber pad can reduce the injury that causes the outer surface of grape fruit stem.
Preferably, the support mechanism comprises a support frame, the lower surface of the support frame is fixedly arranged on the upper surface of the tray in an annular array distribution manner through holes, a silica gel groove body is fixedly arranged on the outer surface of the support frame, the outer side surface of the silica gel groove body is in sliding connection with the outer surface of the pneumatic finger, support motors are fixedly arranged on the lower surface of the tray in an annular array distribution manner, the lower surface of the tray is hinged with a cover plate through a pin shaft, the cover plate is distributed on the lower surface of the tray in an annular array manner, and an output shaft of each support motor is fixedly connected with one end of the pin shaft on one side of the cover plate;
through the technical scheme, the silica gel tank body is tubular, the outer surface of one side of the silica gel tank body is provided with the groove, the descending of a finger can be conveniently started, the cut grapes can be placed in the silica gel tank body by the starting finger and supported through the closed cover plate, so that when the mechanical arm is used for adjusting the position of the picking mechanism, the picked grapes can not shake greatly in the moving process, the silica gel tank body is made of silica gel materials, the damage caused by shaking of the grapes in the adjusting process of moving of the mechanical arm is reduced, a plurality of silica gel tank bodies can prevent a plurality of bunches of grapes, after the grapes are placed in the plurality of silica gel tank bodies, the mechanical arm drives the tray to return to the collecting frame, the cover plate is driven to deflect through the supporting motor, the grape fruit stems can be loosened by the starting finger, the grapes can fall into the collecting frame, the cover plate is positioned below the through holes formed in the tray, and the supporting motor can drive simultaneously, or drive alone, the apron is opened in the drive simultaneously can fall into the collection frame with many bunch grapes together, when having the requirement to the shape of placing of grape, the apron is opened one by one to the accessible, can adjust the position that the grape is located the hand and collect the frame, and the support motor is the motor of area brake, and the output shaft can't rotate when not circular telegram.
Preferably, the collecting mechanism comprises limiting frames, the outer side surfaces of the two limiting frames are fixedly arranged on the outer side surfaces of the supporting plates, weighing sensors are fixedly arranged at two ends of the upper surfaces of the limiting frames through grooves, and collecting frames are arranged on the upper surfaces of the limiting frames;
through above-mentioned technical scheme, collect the frame and be located weighing sensor's top, when the grape in collecting the frame reaches the weight of settlement, remind the staff to change and collect the frame, also can change through other manipulators and collect the frame, reduce artificial input, realize automatic picking grape.
The beneficial effects of the invention are as follows:
1. through setting up elevating gear, can be when the grape of needs top grape trellis is picked, can rise the height of picking manipulator, the picking manipulator of being convenient for is picked, promote the linkage board through hydraulic cylinder and remove, the scissors frame part of both sides can promote the support frame to rise along with the rising of linkage board after opening to can realize adjusting the height of picking manipulator, it can't pick the grape of grape trellis top to have solved current manipulator, application range is limited, cause the technical problem that the practicality reduces.
2. By arranging the fixing mechanism, the grapes to be picked can be fixed and then cut, the grapes are prevented from falling off after being picked, the fixed motor drives the tray to rotate, so that the fixed hydraulic cylinder on the tray drives the starting finger to be positioned below the scissor component, after the fingers are started to clamp the grape stems, the grape stems above the fingers can be conveniently sheared, the pressure sensors on the pneumatic fingers can detect the pressure for clamping the grape stems, the grape stems are prevented from being broken due to overlarge pressure, meanwhile, the rubber pad can increase the friction force, prevent the grapes from falling downwards under the self-generated gravity, and reduce the damage of the claws in the pneumatic fingers to the grape stalks, thereby can fix the grape, reduce the condition that drops to the grape, solve current manipulator when picking the grape, it is long consuming time, the technical problem of the phenomenon that drops appears in the grape of shearing.
3. Through the arrangement of the supporting mechanism, a plurality of bunches of grapes after being sheared can be supported, the time for placing the grapes when the mechanical arm returns is reduced, the pneumatic finger can be inserted into the silica gel groove body when the piston rod of the fixed hydraulic cylinder retracts, the grapes which are sheared by the pneumatic finger are driven to be located in the silica gel groove body, the grapes are supported through the closed cover plate, after the grapes are placed in one silica gel groove body, the fixed motor drives the tray to rotate, the starting finger which does not clamp the grapes is located below the scissor component to pick the grapes for the second time, after the grapes are placed in a plurality of silica gel grooves, the mechanical arm drives the tray to move to the upper part of the collecting frame, the supporting motor drives the cover plate to deflect, the bunches of grapes fall into the collecting frame conveniently, the working efficiency for picking the grapes is improved, the number of times for the mechanical arm to and fro is reduced, and the problem that when the existing mechanical arm picks the grapes is solved, the manipulator needs to return to place the grapes in the collecting frame after picking a bunch of grapes, and the technical problem of working efficiency is improved.
Drawings
FIG. 1 is a schematic view of an intelligent manipulator for picking grapes according to the present invention;
FIG. 2 is a perspective view of a hydraulic lifting cylinder structure of an intelligent manipulator for picking grapes, which is provided by the invention;
FIG. 3 is a perspective view of the structure of the scissor frame component of the intelligent manipulator for picking grapes according to the present invention;
FIG. 4 is a perspective view of a linkage plate structure of an intelligent manipulator for picking grapes according to the present invention;
fig. 5 is a perspective view of a picking manipulator structure of the intelligent manipulator for picking grapes, which is provided by the invention;
FIG. 6 is a perspective view of a tray structure of an intelligent manipulator for picking grapes according to the present invention;
FIG. 7 is a perspective view of the structure of a scissors assembly of the intelligent manipulator for picking grapes according to the present invention;
FIG. 8 is a perspective view of a turntable structure of an intelligent manipulator for picking grapes according to the present invention;
FIG. 9 is a perspective view of a fixed motor structure of an intelligent manipulator for picking grapes according to the present invention;
FIG. 10 is a perspective view of a silica gel tank structure of an intelligent manipulator for picking grapes according to the present invention;
FIG. 11 is a perspective view of a pneumatic finger structure of an intelligent manipulator for picking grapes according to the present invention;
FIG. 12 is a perspective view of a support motor structure of an intelligent manipulator for picking grapes according to the present invention;
fig. 13 is a perspective view of a limiting frame structure of the intelligent manipulator for picking grapes provided by the invention.
In the figure: 1. moving the trolley; 2. a lifting hydraulic cylinder; 21. a linkage plate; 22. a limiting pipe sleeve; 23. a limiting rod; 24. a support plate; 25. a connecting plate; 26. a scissor housing member; 3. a picking manipulator; 31. a mechanical arm; 32. a camera; 33. a control housing; 3301. picking a motor; 3302. a turntable; 3303. a limiting groove body; 3304. a slider; 3305. a scissor assembly; 3306. a return spring; 3307. extruding the block; 3308. a chute; 3309. a limiting connecting plate; 34. fixing a motor; 3401. a tray; 3402. fixing a hydraulic cylinder; 3403. a pneumatic finger; 3404. a pressure sensor; 3405. a rubber pad; 35. a support frame; 3501. a silica gel tank body; 3502. a support motor; 3503. a cover plate; 4. a limiting frame; 41. a weighing sensor; 42. and (5) collecting the frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-13, an intelligent manipulator for picking grapes comprises a moving trolley 1, a lifting device, a picking manipulator 3 and a collecting mechanism.
As shown in fig. 2-4, the lifting device is positioned on the bottom wall in the compartment of the mobile trolley 1 and adjusts the position of the picking manipulator 3 according to the position of the grapes;
the lifting device is arranged on the bottom wall of the carriage of the movable trolley 1, in order to adjust the position of the picking manipulator 3 according to the position for picking grapes, a lifting hydraulic cylinder 2 is fixedly arranged on the bottom wall of the carriage of the movable trolley 1, the lifting hydraulic cylinder 2 is distributed on the bottom wall of the carriage of the movable trolley 1 in an annular array mode, then a linkage plate 21 is fixedly arranged on the upper surface of a piston rod of the lifting hydraulic cylinder 2, in order to limit, limiting pipe sleeves 22 are fixedly arranged on two sides of the lower surface of the linkage plate 21, then limiting rods 23 are inserted into the inner wall of the limiting pipe sleeves 22 in a sliding mode, in order to support the picking manipulator 3, a support plate 24 is fixedly arranged on the upper end of each limiting rod 23 after penetrating through the upper surface of the linkage plate 21, and the limiting rods 23 play a limiting role on the support rods;
further, in order to increase the lifting stroke of the supporting plate 24, the connecting plates 25 are fixedly installed on two sides of the bottom wall in the carriage of the moving trolley 1, then the two sides of each of the two connecting plates 25 are hinged to a scissor frame component 26 through a pin shaft, in order to drive the scissor frame components 26 to expand and contract, the middle ends of the two scissor frame components 26 are respectively hinged to the outer side surface of the linkage plate 21 through pin shafts, in order to drive the supporting plate 24 to lift, and the other ends of the two scissor frame components 26 are respectively hinged to two sides of the lower surface of the supporting plate 24 through pin shafts.
As shown in fig. 5-12, the picking manipulator 3 is located on the upper surface of the lifting device and picks ripe grapes on the grape vine;
the picking manipulator 3 comprises a mechanical arm 31, a camera 32, a picking mechanism, a fixing mechanism and a supporting mechanism, wherein the mechanical arm 31 drives the picking mechanism to move correspondingly according to the position of picked grapes, the picking mechanism cuts off vines of the grapes fixed by the fixing mechanism, the fixing mechanism fixes the grapes to be picked on the vines and prevents the picked grapes from moving, and the supporting mechanism can collect the picked grapes for supporting;
in order to drive the picking mechanism to perform corresponding adjustment according to the position of a mature grape, a rectangular array of the lower surfaces of a plurality of mechanical arms 31 is fixedly installed on the upper surface of a supporting plate 24, the mechanical arms 31 are five-axis joint mechanical arms 31, servo motors are arranged inside the mechanical arms 31, the five servo motors directly drive five joint shafts to rotate through a harmonic reducer, a synchronous belt pulley and the like, so that the grapes at different positions are picked, in order to distinguish the maturity of the grapes and control the position of the mature grapes, the lower surface of a camera 32 is installed on the outer side surface of one end of each mechanical arm 31, and the camera 32 identifies the maturity of the grapes through a color identification module;
a picking mechanism, which is arranged at the position of one end of a mechanical arm 31, in order that the mechanical arm 31 can adjust the position of the picking mechanism, a control machine shell 33 is fixedly arranged at one end of the mechanical arm 31, in order to automatically drive the picking mechanism, a picking motor 3301 is fixedly arranged at the inner bottom wall of the control machine shell 33, in order to automatically cut grape stems, a rotating disc 3302 is fixedly arranged at the output shaft of the picking motor 3301, in order to limit the picking mechanism, a limit groove body 3303 is fixedly arranged at the inner wall of a groove opening of the control machine shell 33, then a slide block 3304 is inserted in the inner wall of the limit groove body 3303 in a sliding way, in order to cut the grape stems, a scissor component 3305 is hinged on the upper surface of the slide block 3304 through a pin shaft, in order that the scissor component 3305 carries out cutting work, a return spring 3306 is fixedly connected on the upper surface of one end of the scissor component 3305, then the other end of the return spring 3306 is fixedly arranged at the other end of the scissor component 3305, the reset spring 3306 provides that the two ends of the scissors assembly 3305 reset, so that one end with a cutting edge moves reversely, and the purpose of keeping away from the grape fruit stem after the cutting is finished is achieved, in order to control the scissors assembly 3305 to open and close, and cut the grape fruit stem, an extrusion block 3307 is fixedly installed at the center of the upper surface of the rotary table 3302, the extrusion block 3307 is composed of a connecting rod and two convex blocks, the two convex blocks are distributed on the connecting rod in a vertical symmetrical manner, the connecting rod is fixedly installed on the upper surface of the rotary table 3302, and then the two ends of the extrusion block 3307 are respectively connected with the two ends of the scissors assembly 3305 in a sliding manner;
furthermore, in order to drive the scissors component 3305 to move back and forth and recover the grape stems after the grape stems are cut, a sliding groove 3308 is formed in the upper surface of the rotary table 3302, in order to pull the sliding block 3304 to slide in the limiting groove 3303, a limiting connecting plate 3309 is fixedly installed on the outer surface of the sliding block 3304, then the inner wall of one end of the limiting connecting plate 3309 is connected to the outer surface of the connecting rod of the extrusion block 3307 in a sliding mode to limit, in order to drive the limiting connecting plate 3309 to move horizontally, the lower surface of the limiting connecting plate 3309 is connected to the inner wall of the sliding groove 3308 in a sliding mode through the connecting column, the limiting connecting plate 3309 is composed of a plate, a limiting hole formed in one end of the plate and the connecting column, and the inner wall of the limiting hole is connected to the outer surface of the connecting column of the extrusion block 3307 in a sliding mode;
a fixing mechanism which is arranged on the position of the lower surface of the control casing 33, a fixed motor 34 is fixedly arranged on the lower surface of the control casing 33 for automatically driving the fixing mechanism to rotate, a tray 3401 is fixedly arranged at one end of an output shaft of the fixed motor 34 for supporting and fixing a plurality of bunches of grapes, the fixed motor 34 can adjust the rotating angle of the tray 3401 through a cam divider, a fixed hydraulic cylinder 3402 is fixedly arranged on the annular array of the upper surface of the tray 3401 for driving the grapes to move up and down, a pneumatic finger 3403 is fixedly arranged at one end of a piston rod of the fixed hydraulic cylinder 3402 for automatically clamping the stalks of the grapes, a pressure sensor 3404 is fixedly arranged on the outer side surface of the claw of the pneumatic finger 3403 for controlling the strength for clamping the stalks of the grapes, the two pressure sensors 3404 are positioned on the opposite surfaces of the two claws, and in order to prevent the claw of the pneumatic finger 3403 from causing the damage and fracture of the outer surface of the stalks during the clamping process, a rubber pad 3405 is fixedly arranged on the outer side surface of the claw of the pneumatic finger 3403;
the supporting mechanism is fixedly arranged on the upper surface of the rotary table 3302, in order to support grapes, the supporting frames 35 are fixedly arranged on the upper surface of the rotary table 3302 in an annular array mode through holes, in order to protect grapes, a silica gel groove 3501 is fixedly arranged on the outer side surface of the supporting frame 35, the silica gel groove 3501 is made of silica gel materials, the acting force of extrusion on the outer surface caused by shaking of grapes in the moving process of the tray 3401 is reduced, in order to facilitate the pneumatic fingers 3403 to place grapes into the silica gel groove 3501, one end of the pneumatic fingers 3403 is in sliding connection with the outer surface of the silica gel groove 3501, the pneumatic fingers 3403 can be located inside the silica gel groove 3501, in order to facilitate the grapes to move into the collecting frame 42, the annular array distribution is arranged on the lower surface of the tray 3401, the cover plate 3503 is hinged to the cover plate 3503 through pins, the cover plate 3503 is located below the through holes of the tray 3401, in order to automatically control opening and closing of the 3503, the support motors 3502 are fixedly arranged on the lower surface of the tray 3401 in an annular array, then an output shaft of the support motor 3502 and one end of a fixed mounting pin shaft on one side of the cover plate 3503 are fixedly arranged to drive the cover plate 3503 to deflect, the support motor 3502 is a motor with a brake, and the output shaft of the support motor 3502 cannot rotate when the power is not on.
As shown in fig. 1 and 13, the collecting mechanism is located on the outer side surface of the lifting device and collects the grapes picked by the picking manipulator 3;
collect the mechanism, install on the position of the both sides surface of backup pad 24, collect the mechanism for the support, at the spacing 4 of the both sides external surface fixed mounting of backup pad 24, for holding the grape of picking, set up at the upper surface of spacing 4 and collect frame 42, hold too much for preventing to collect the grape in the frame 42, cause the grape to drop, pass through recess fixed mounting weighing sensor 41 at the upper surface of spacing 4, weighing sensor 41 is located the below of collecting frame 42.
The working principle is as follows: when grapes need to be picked, the movable trolley 1 moves into the grape greenhouse, when grapes on two sides of a grape trellis are picked, the mechanical arm 31 on the supporting plate 24 is driven to rotate, the camera 32 at one end of the mechanical arm 31 captures grape positions with standard ripeness and ripeness on the grapes, the control shell 33 is driven to move, after a pneumatic finger 3403 on the tray 3401 can clamp a part of a grape stem needing to be picked, the picking motor 3301 of the control shell 33 drives the rotary table 3302 to rotate, a connecting column on the limiting connecting plate 3309 moves along the track of the sliding groove 3308 to drive the limiting connecting plate 3309 to move horizontally, the sliding block 3304 is pushed to the outside of the control shell 33 in the limiting groove 3303, the scissors component 3305 is pushed to the direction of clamping the grape stems, and meanwhile, the extrusion block 3307 on the rotary table 3302 rotates to be capable of being connected with two ends of the scissors component 3305 in a sliding manner, the two ends of the scissors assembly 3305 with the cutting edges deflect relatively, grape fruit stems positioned between the two ends can be cut off, the return spring 3306 is stretched, the turntable 3302 continues to rotate, so that the limiting plate pulls the sliding block 3304 to retract, meanwhile, the extrusion block 3307 leaves the two ends of the scissors assembly 3305, the two ends of the scissors assembly 3305 are reset by the elastic force of the return spring 3306, the two ends of the cutting edges are driven to move oppositely, and the scissors assembly 3305 can leave the grape fruit stems to reset;
the fixed hydraulic cylinder 3402 on the tray 3401 drives the picked grapes to move downwards, the pneumatic fingers 3403 can drive the grapes to be placed in the silica gel tanks 3501 on the support frame 35 for storage, meanwhile, the rotation of the tray 3401 can not be obstructed, the fixed motor 34 drives the tray 3401 to rotate, the pneumatic fingers 3403 adjacent to the undamped grapes are positioned below the scissors assemblies 3305 for picking the grapes for the second time, when the grapes are placed in the silica gel tanks 3501, the mechanical arm 31 controls the tray 3401 to move, the tray 3401 can be positioned above the collecting frame 42 and close to the collecting frame 42, the support motor 3502 drives the cover plate 3503 to deflect, the pneumatic fingers 3403 loosen the clamping of the grapes, the picked grapes can enter the collecting frame 42 through the through holes in the tray 3401 for placement, the weighing sensor 41 detects the weight in the collecting frame 42, and after the weight reaches a set threshold value, reminding the operator to replace the collection frame 42;
when grapes above the grape trellis need to be picked, a piston rod of the bottom wall lifting hydraulic cylinder 2 in a carriage of the movable trolley 1 rises upwards to drive the linkage plate 21 to drive the shear frame parts 26 on the connecting plate 25 to expand, the supporting plate 24 can rise after the shear frame parts 26 are expanded to drive the picking manipulator 3 to rise together, meanwhile, the limiting rod 23 slides in the limiting pipe sleeve 22, the grapes above the grape trellis can be picked after the picking manipulator 3 rises, and the grapes are placed in the collecting frame 42.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The intelligent manipulator for picking grapes comprises a mobile trolley (1) and is characterized by further comprising a lifting device, a picking manipulator (3) and a collecting mechanism, wherein the lifting device is located on the bottom wall of the interior of a carriage of the mobile trolley (1) and adjusts the position of the picking manipulator (3) according to the position of grapes;
the picking mechanical arm (3) is positioned on the upper surface of the lifting device and picks ripe grapes on the grape vine;
the collecting mechanism is positioned on the outer side surface of the lifting device and collects the grapes picked by the picking manipulator (3).
2. The intelligent manipulator for grape picking as claimed in claim 1, wherein: the lifting device comprises a lifting hydraulic cylinder (2) and is multiple in that the lower surface of the lifting hydraulic cylinder (2) is fixedly arranged on the inner bottom wall of the movable trolley (1) in an annular array distribution mode, a linkage plate (21) is fixedly arranged on a piston rod of the lifting hydraulic cylinder (2), limiting pipe sleeves (22) are fixedly arranged on two sides of the lower surface of the linkage plate (21), limiting rods (23) are inserted into the inner wall of the limiting pipe sleeves (22) in a sliding mode, and supporting plates (24) are fixedly arranged behind the upper surface of the linkage plate (21) in a penetrating mode.
3. The intelligent manipulator for grape picking as claimed in claim 2, wherein: bottom wall both sides fixed mounting has connecting plate (25) in the carriage of travelling car (1), two the both sides of connecting plate (25) all articulate through the round pin axle has scissors frame part (26), two the middle-end of scissors frame part (26) articulates respectively through the round pin axle the lateral surface of linkage board (21), two the other end of scissors frame part (26) articulates respectively through the round pin axle the lower surface both sides of backup pad (24).
4. The intelligent manipulator for grape picking as claimed in claim 3, wherein: picking manipulator (3) include arm (31), camera (32), picking mechanism, fixed establishment and supporting mechanism, arm (31) drive picking mechanism carries out corresponding removal according to the position of picking the grape, picking mechanism is right the grape that fixed establishment is fixed is cut the grape vine, the grape that needs the picking on the fixed grape vine of fixed establishment prevents simultaneously that the grape under picking from taking place to remove, supporting mechanism can collect the grape under picking and support.
5. The intelligent manipulator for grape picking as claimed in claim 4, wherein: the lower surface rectangular array of a plurality of arms (31) is fixedly arranged on the upper surface of the supporting plate (24), and the lower surface of the camera (32) is fixedly arranged on the outer side surface of one end of the arm (31).
6. The intelligent manipulator for grape picking as claimed in claim 4, wherein: the picking mechanism comprises a control machine shell (33), the upper surface of the control machine shell (33) is fixedly installed at one end of a mechanical arm (31), a picking motor (3301) is fixedly installed at the inner bottom wall of the control machine shell (33), a rotary table (3302) is fixedly installed at an output shaft of the picking motor (3301), a sliding groove (3308) is formed in the upper surface of the rotary table (3302), a limiting groove body (3303) is fixedly installed at the inner wall of a notch of the control machine shell (33), a sliding block (3304) is inserted into the inner wall of the limiting groove body (3303) in a sliding mode, a scissor assembly (3305) is hinged to the upper surface of the sliding block (3304) through a pin shaft, a reset spring (3306) is fixedly connected to the upper surface of one end of the scissor assembly (3305), the other end of the reset spring (3306) is fixedly connected to the upper surface of the other end of the scissor assembly (3305), and an extrusion block (3307) is fixedly installed at the center of the upper surface of the rotary table (3302), two ends of the squeezing block (3307) are respectively connected with two ends of the scissors assembly (3305) in a sliding mode.
7. The intelligent manipulator for grape picking as claimed in claim 6, wherein: spout (3308) have been seted up to the upper surface of carousel (3302), the surface fixed mounting of slider (3304) has spacing even board (3309), spacing one end inner wall sliding connection of even board (3309) is in the one end surface of extrusion piece (3307), spacing lower surface of even board (3309) passes through spliced pole sliding connection and is in the inner wall of spout (3308).
8. The intelligent manipulator for grape picking as claimed in claim 6, wherein: fixed establishment includes fixed motor (34), the surface fixed mounting of fixed motor (34) is in the lower surface of control casing (33), the output shaft fixed mounting of fixed motor (34) has tray (3401), the upper surface of tray (3401) has fixed pneumatic cylinder (3402) through recess annular array fixed mounting, the piston rod one end fixed mounting of fixed pneumatic cylinder (3402) has pneumatic finger (3403), the claw lateral surface fixed mounting of pneumatic finger (3403) has pressure sensor (3404), the claw lateral surface fixed mounting of pneumatic finger (3403) has rubber pad (3405).
9. The intelligent manipulator for grape picking as claimed in claim 8, wherein: the supporting mechanism comprises a supporting frame (35), the lower surface of the supporting frame (35) is fixedly mounted on the upper surface of the tray (3401) in an annular array distribution mode through a through hole, a silica gel groove body (3501) is fixedly mounted on the outer surface of the supporting frame (35), the outer side surface of the silica gel groove body (3501) is in sliding connection with the outer surface of the pneumatic finger (3403), a supporting motor (3502) is fixedly mounted on the lower surface of the tray (3401) in an annular array distribution mode, an cover plate (3503) is hinged to the lower surface of the tray (3401) through a pin shaft, the cover plate (3503) is distributed on the lower surface of the tray (3401) in an annular array mode, and the output shaft of the supporting motor (3502) is fixedly connected with one end of the pin shaft on one side of the cover plate (3503).
10. The intelligent manipulator for grape picking as claimed in claim 2, wherein: collect the mechanism and include spacing (4), two the lateral surface fixed mounting of spacing (4) be in the lateral surface of backup pad (24), there are weighing sensor (41) at the upper surface both ends of spacing (4) through recess fixed mounting, the upper surface of spacing (4) is provided with collects frame (42).
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