CN207427851U - A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape - Google Patents
A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape Download PDFInfo
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- CN207427851U CN207427851U CN201721450245.XU CN201721450245U CN207427851U CN 207427851 U CN207427851 U CN 207427851U CN 201721450245 U CN201721450245 U CN 201721450245U CN 207427851 U CN207427851 U CN 207427851U
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Abstract
The utility model discloses a kind of lossless intelligence classification croppers of castatopsis fissa Table Grape, including mobile platform (8), master controller (25) and motor below mobile platform (8) and the rotating mechanical arm (3) in front of mobile platform (8), picker (1) is installed in the end of rotating mechanical arm (3), image collecting device (2) is installed above rotating mechanical arm (3) end, classification rotating device is installed at the rear of rotating mechanical arm (3), harvest case (4) is placed in classification rotating device；Picker (1) and classification rotating device are electrically connected by drive and control of electric machine, the motor and image collecting device (2) with master controller (25).The utility model is simple in structure, and collection is picked, is classified, casing, being transmitted in one, can avoid being damaged during vintage to greatest extent, improve work efficiency, reduces working strength, and high degree of automation.
Description
Technical field
The utility model is related to standardized mechanicals to harvest technical field, is specially a kind of lossless intelligence of castatopsis fissa Table Grape
Cropper can be classified.
Background technology
God of the grape as fruit, rich in a variety of nutriments, sweet and sour taste, is favored by people.China's wine-growing
Area is at the forefront in the world, and last decade vinegrowing area and yield are in rising trend always.However, the mechanization grape in China is received
Obtain horizontal also very low, vintage relies primarily on manually, and of high cost, labor intensity greatly and in picking process easily makes grape
Into damage, it is unfavorable for the preservation of grape.In addition, Table Grape lacks complete specific staging hierarchy, seriously constrains Portugal
Grape and the development of appurtenance.
Low for current grape picking mechanical degree, the incomplete present situation of staging hierarchy, grape grower needs one kind
Mechanization degree is high, can realize that grape is picked, is classified, casing, being transmitted in integral cropper to meet to high quality automatically
Mechanization, the requirement of autonomous harvesting.The lossless intelligence classification cropper of the castatopsis fissa Table Grape of the utility model design can
To reach raising mechanization degree, grape damage is reduced to greatest extent, reduces the purpose of labor intensity.
Utility model content
The utility model is directed to above-mentioned deficiency in the prior art, and the purpose of this utility model is to provide a kind of hedges
The lossless intelligence classification cropper of wall type Table Grape, the lossless intelligence classification cropper of this castatopsis fissa Table Grape can realize Portugal
Grape pick, are classified, case, are transmitted in one, reduce labor intensity, improve work efficiency, and avoid grape to greatest extent
Damage.
The utility model is achieved by the following technical solution, and the utility model provides a kind of castatopsis fissa Table Grape
Lossless intelligence classification cropper, master controller and motor including mobile platform, below mobile platform and mounted on shifting
Rotating mechanical arm in front of moving platform is equipped with picker, in the upper of rotating mechanical arm end in the end of rotating mechanical arm
Side is equipped with image collecting device, and classification rotating device is installed at the rear of rotating mechanical arm, is placed in classification rotating device
Harvest case；The picker and classification rotating device by drive and control of electric machine, the motor and image collecting device with
Master controller is electrically connected.
Described image harvester is depth camera, for Image Acquisition, and sends acquisition information to master controller；Rotation
It is entirely rotary freedom, it can be achieved that being picked to the grape of rack both sides to turn mechanical arm degree of freedom.
Preferably, the classification rotating device includes symmetrically arranged expansion bracket and the rotational circle being connected with expansion bracket
Disk is uniformly distributed multiple cylindrical protrusions on the circumference of rotating circular disk, and cylindrical protrusions are hinged with triangular support bracket, symmetrical
Triangular support bracket between be placed with harvest case.Master controller controls rotating circular disk rotation and expansion bracket by rotation and lifting motor
The flexible rotation classification for realizing grape.
Preferably, further including the universal wheel and guider below mobile platform, the universal wheel is by motor
Drive control, the guider include position sensor and close to switches, and the guider is electrically connected with master controller.Ten thousand
It is located on the outside of mobile platform to increase forced area to the tire of wheel, improves overall stability；Master controller is opened according to close
It closes and position sensor controls movable motor, after detecting that cropper reaches picking point, stop motion.
Preferably, the motor includes stepper motor and rotation and lifting motor, the universal wheel and picker and step
Stepper motor is electrically connected, and the classification rotating device is electrically connected with rotation and lifting motor.
Preferably, empty harvest case pallet is equipped between the rotating mechanical arm and classification rotating device, it is described
The angle iron that sky harvest case pallet is placed vertically by 4 forms, and scalable cuboid boss is distributed on the inside of angle iron, described
Scalable cuboid boss and harvest case upper edge bottom connection, have below the angle iron away from rotating mechanical arm higher than receipts
Obtain the notch of case.The scalable cuboid boss of main controller controls stretches, and the transmission of harvest case can be realized with reference to transmission device.
Preferably, further including the transmission device of installation on a mobile platform, the transmission device extends to movement
Platform afterbody and the underface for being located at empty harvest case pallet and classification rotating device, transmission device width are long less than harvest case
Degree.Transmission device harvests case for transporting.
Preferably, the exit that transmission device is corresponded in mobile platform afterbody is equipped with decentralization baffle, the decentralization baffle
It is made of two transverse slats and the multiple idler wheels being connected between two transverse slats.After decentralization, the idler wheel of baffle is transferred for transmitting harvest case.
Preferably, the picker includes Picking shears and the clamping device immediately below Picking shears.Clamping
Device and Picking shears select light hard alloy material, clamping device and Picking shears by main controller controls stepper motor into
Row driving.The clamping device surface covers rubber layer, and the friction between increase and grape pedicel simultaneously protects grape pedicel injury-free.
Preferably, being equipped with ultrasonic sensor below mobile platform, sensing is equipped in harvest case upper edge
Device, the sensor and ultrasonic sensor are electrically connected with master controller.When ultrasonic sensor detects barrier, upload
To master controller, master controller stops by the way that motor is controlled to decelerate to cropper and sends alarm signal, treats that barrier is clear
After removing, master controller continues that motor driving is controlled to work；Harvest case upper edge is equipped with sensor for detecting collecting box
Interior picking degree is transmitted to master controller after picking is full.
The beneficial effects of the utility model are：
The utility model based on castatopsis fissa plantation full-automatic Table Grape cropper change at present using manually into
The present situation of row grape picking is, it can be achieved that automatic picking, classification, vanning, the transmission of grape, reduce the damage of grape, ensure that Portugal
Grape quality, improves work efficiency, and has simple and reasonable, advantageous effect outstanding feature, suitable for the grape of castatopsis fissa
Picking.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the utility model overview；
Fig. 2 is the utility model bottom view；
Fig. 3 is picker partial view；
Fig. 4 is empty harvest case pallet partial view；
Fig. 5 is decentralization baffle partial view；
In figure, 1-picker, 2-image collecting device, 3-rotating mechanical arm, 4-harvest case, 5-rotating circular disk,
6-triangular support bracket, 7-decentralization baffle, 8-mobile platform, 9-expansion bracket, 10-transmission device, 11-sky harvest case are kept in
Frame, 12 --- universal wheel, 13-rotation and lifting motor, 14-position sensor, 15-ultrasonic sensor, 16-clamping dress
Put, 17-Picking shears, 18-stepper motor, 19-close to switch, 20-drive gear, 21-scalable cuboid boss,
22-idler wheel, 23-transverse slat, 24-rubber layer, 25-master controller.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, with reference to embodiments, to this
Utility model is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain this practicality
It is new, it is not used to limit the utility model.
The application principle of the utility model is further described with reference to specific embodiment.
Embodiment 1, with reference to Fig. 1 to Fig. 5, the lossless intelligence classification cropper of a kind of castatopsis fissa Table Grape, including movement
Platform 8, the master controller 25 mounted on 8 lower section of mobile platform and motor and the rotating mechanical arm mounted on 8 front of mobile platform
3, picker 1 is installed in the end of rotating mechanical arm 3, image collector is installed above 3 end of rotating mechanical arm
2 are put, classification rotating device is installed at the rear of rotating mechanical arm 3, harvest case 4 is placed in classification rotating device；The picking
By drive and control of electric machine, the motor and image collecting device are electrically connected with master controller for device 1 and classification rotating device.
Described image harvester 2 is depth camera, for Image Acquisition, and sends acquisition information to master controller；
Rotating mechanical arm degree of freedom is entirely rotary freedom, it can be achieved that being picked to the grape of rack both sides.
The classification rotating device includes symmetrically arranged expansion bracket 9 and the rotating circular disk 5 being connected with expansion bracket 9, is revolving
Turn to be uniformly distributed multiple cylindrical protrusions on the circumference of disk 5, cylindrical protrusions are hinged with triangular support bracket 6, symmetrical three
Harvest case 4 is placed between angle supporting rack 6.Master controller controls rotating circular disk rotation and expansion bracket to stretch by rotation and lifting motor
The rotation classification of grape is realized in contracting.
Universal wheel 12 and guider mounted on 8 lower section of mobile platform are further included, the universal wheel 12 is driven by motor
Control, the guider include position sensor 14 and close to switches 19, and the guider is electrically connected with master controller.Ten thousand
It is located on the outside of mobile platform to increase forced area to the tire of wheel, improves overall stability；Master controller is opened according to close
It closes and position sensor controls movable motor, after detecting that cropper reaches picking point, stop motion.
The motor includes stepper motor 18 and rotation and lifting motor 13, the universal wheel 12 and picker 1 and stepping
Motor 18 is electrically connected, and the classification rotating device is electrically connected with rotation and lifting motor 13.
The transmission device 10 on mobile platform 8 is further included, the transmission device 10 extends to mobile platform 8
Afterbody and the underface for being located at empty harvest case pallet 11 and classification rotating device, 10 width of transmission device are grown less than harvest case 4
Degree.Transmission device harvests case for transporting.
The exit that transmission device 10 is corresponded in 8 afterbody of mobile platform is equipped with decentralization baffle 7, and the decentralization baffle 7 is by two
A transverse slat 23 and the multiple idler wheels 22 being connected between two transverse slats 23 form.After decentralization, the idler wheel of decentralization baffle 7 harvests for transmitting
Case.
The picker 1 includes Picking shears 17 and the clamping device 16 immediately below Picking shears 17, is clamping
16 surface of device is covered with rubber layer 24.Clamping device and Picking shears select light hard alloy material, clamping device and adopt
Scissors is plucked to be driven by main controller controls stepper motor.The clamping device surface covers rubber layer, increase and grape pedicel
Between friction and protect grape pedicel injury-free.
Embodiment 2, the present embodiment and embodiment 1 the difference is that, in the rotating mechanical arm 3 and classification rotating dress
Empty harvest case pallet 11 is equipped between putting, the angle iron that the empty harvest case pallet 11 is placed vertically by 4 forms, and three
Scalable cuboid boss 21, the scalable cuboid boss 21 and 4 upper edge bottom of harvest case are distributed on the inside of angle bar
Connect, there is the notch higher than harvest case 4 below the angle iron away from rotating mechanical arm 3.Main controller controls are scalable rectangular
Body boss stretches, and the transmission of harvest case can be realized with reference to transmission device.
Embodiment 3, the present embodiment and embodiment 1 the difference is that, ultrasonic wave is installed in the lower section of mobile platform 8
Sensor 15 is equipped with sensor in harvest 4 upper edge of case, and the sensor and ultrasonic sensor 15 are electric with master controller
Connection.When ultrasonic sensor detects barrier, up-delivering signal to master controller, master controller is by controlling motor to make harvest
Machine, which decelerates to, to be stopped and sends alarm, and after barrier is eliminated, master controller continues that motor driving is controlled to work；Harvest
Case upper edge is equipped with sensor for detecting picking degree in collecting box, and master controller is transmitted to after picking is full.
The control method of above-described embodiment 1-3, including following technique：
After 1 motor driving mobile platform moves to picking position, image collecting device carries out Image Acquisition, master controller pair
The image collected is handled, and obtains picking point position, and grape is classified and plans that rotating mechanical arm picks path, main
Controller control driving stepper motor rotating mechanical arm is picked；
According to grade after the completion of 2 pickings, classification rotating device will harvest case and rotate to vertex position, after harvest case is full, stretch
Contracting frame is shunk, decentralization harvest case on transmission device, by transfer baffle will it is full after harvest case be sent to ground, meanwhile, it is empty
It harvests case pallet and transfers an empty harvest case to transmission device, sky harvest case is lifted, continues next round and receive by expansion bracket stretching, extension
It obtains.
The specific course of work is as follows：Stepper motor 18 drives mobile platform 8 to move, and is passed below mobile platform equipped with position
Sensor 14 is used to monitor the real time position of cropper, and cropper present position is fed back to master controller；Treat that cropper reaches
When picking place, the depth camera 2 above rotating mechanical arm end starts to gather image information and uploads to master controller
The identification of picking point is carried out, after identification point determines, main controller controls stepper motor 18 drives Picking shears 17 to be picked；Tool
Body process is the motion path according to end picker and the location determination picker of grape picking point, and motion path determines
Afterwards, stepper motor 18 drives rotating mechanical arm that Picking shears is made to move to picking point, meanwhile, lower section clamping device 16 clamps grape
Stalk, Picking shears are sheared.
During being transferred after grape picking, linear process is carried out to the image collected, it is big to fruit surface smooth, fruit ear
Small, fruit size and the uniformity are detected, and grape is classified according to testing result.The driving rotation of rotation and lifting motor 13
Turn disk 5 to rotate, grade harvest case is gone to by highest point according to the division of grape grade, clamping device 16 is moved on harvest case
Side is picked next time after grape is put into harvest case.
It harvests case upper edge and is equipped with sensor, sensor sensing is to after harvesting case completely, main controller controls rotating machinery
Arm stops picking, and controls rotating circular disk rotation that the harvest case for filling grape is rotated to bottommost, at this point, expansion bracket is received downwards
Harvest case is placed on transmission device by contracting, and 11 scalable cuboid boss 21 is shunk on sky harvest case pallet, decentralization one
A empty case that harvests is to transmission device 10.Scalable cuboid boss 21 no longer bounces automatically after shrinking, at this point, transmission device rotates
Sky harvest case is transmitted to immediately below expansion bracket, the grape of trunkful is transferred to by decentralization baffle on the ground at harvesting cart rear,
Expansion bracket stretches upwards, and sky harvest case follows expansion bracket to rise, and continues picking process.
After the completion of the image collected shows that grape is all picked, rotating mechanical arm recovers zero joint angle posture and simultaneously goes to
Opposite side is picked, and after the completion of the picking of both sides, cropper moves on to be picked next time.When empty harvest case pallet
Sky harvest case number harvested when being zero, and on expansion bracket case it is full after, this signal is passed into master controller, master controller send prompt into
Row mends case.After the completion of a line picking, harvester steering is picked to next line.The ultrasonic wave of installation passes in front of cropper
When sensor 15 detects barrier, up-delivering signal to master controller, master controller is by controlling stepper motor that cropper is made to slow down
To stopping and send alarm.After barrier is eliminated, master controller continues that motor driving is controlled to work.
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 example and attached drawing are merely to illustrate the technology of the utility model
Scheme is not the limitation to the utility model, and the utility model is described in detail with reference to preferred embodiment, this
Field it is to be appreciated by one skilled in the art that those skilled in the art institute in the essential scope of the utility model
For the variations, modifications, additions or substitutions made without departure from the objective of the utility model, the right that should also belong to the utility model will
Seek protection domain.
Claims (9)
1. a kind of lossless intelligence classification cropper of castatopsis fissa Table Grape, it is characterised in that：Including mobile platform (8), installation
Master controller (25) and motor below mobile platform (8) and the rotating mechanical arm (3) in front of mobile platform (8),
Picker (1) is installed in the end of rotating mechanical arm (3), being equipped with image above rotating mechanical arm (3) end adopts
Acquisition means (2) install classification rotating device at the rear of rotating mechanical arm (3), and harvest case is placed in classification rotating device
(4)；The picker (1) and classification rotating device by drive and control of electric machine, the motor and image collecting device with
Master controller (25) is electrically connected.
2. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 1, it is characterised in that：Described point
Grade rotating device includes symmetrically arranged expansion bracket (9) and the rotating circular disk (5) being connected with expansion bracket (9), in rotating circular disk (5)
Circumference on be uniformly distributed multiple cylindrical protrusions, cylindrical protrusions are hinged with triangular support bracket (6), in symmetrical gusseted
Harvest case (4) is placed between frame (6).
3. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 1, it is characterised in that：It further includes
Universal wheel (12) and guider below mobile platform (8), the universal wheel (12) are described by drive and control of electric machine
Guider includes position sensor (14) and close to switch (19), and the guider is electrically connected with master controller (25).
4. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 3, it is characterised in that：The electricity
Machine includes stepper motor (18) and rotation and lifting motor (13), the universal wheel (12) and picker (1) and stepper motor
(18) it is electrically connected, the classification rotating device is electrically connected with rotation and lifting motor (13).
5. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 1, it is characterised in that：Described
Empty harvest case pallet (11), the empty harvest case pallet are equipped between rotating mechanical arm (3) and classification rotating device
(11) angle iron placed vertically by 4 forms, and scalable cuboid boss (21) is distributed on the inside of angle iron, described scalable
Cuboid boss (21) and harvest case (4) upper edge bottom connection, have height below the angle iron away from rotating mechanical arm (3)
In the notch of harvest case (4).
6. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 5, it is characterised in that：It further includes
Transmission device (10) on mobile platform (8), the transmission device (10) extend to mobile platform (8) afterbody and
Positioned at empty harvest case pallet (11) and the underface of classification rotating device, it is long that transmission device (10) width is less than harvest case (4)
Degree.
7. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 6, it is characterised in that：In movement
The exit that platform (8) afterbody corresponds to transmission device (10) is equipped with decentralization baffle (7), and the decentralization baffle (7) is by two transverse slats
(23) and be connected between two transverse slats (23) multiple idler wheels (22) composition.
8. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 1, it is characterised in that：It is described to adopt
Device and picking (1) includes Picking shears (17) and the clamping device (16) immediately below Picking shears (17), in clamping device
(16) surface is covered with rubber layer (24).
9. the lossless intelligence classification cropper of castatopsis fissa Table Grape according to claim 1, it is characterised in that：In movement
Ultrasonic sensor (15) below platform (8) is installed, sensor, the sensor are equipped in harvest case (4) upper edge
It is electrically connected with ultrasonic sensor (15) with master controller (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721450245.XU CN207427851U (en) | 2017-11-03 | 2017-11-03 | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721450245.XU CN207427851U (en) | 2017-11-03 | 2017-11-03 | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape |
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| Publication Number | Publication Date |
|---|---|
| CN207427851U true CN207427851U (en) | 2018-06-01 |
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ID=62291176
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721450245.XU Active CN207427851U (en) | 2017-11-03 | 2017-11-03 | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape |
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| Country | Link |
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| CN (1) | CN207427851U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107667670A (en) * | 2017-11-03 | 2018-02-09 | 山东农业大学 | The lossless intelligence classification cropper and its control method of a kind of castatopsis fissa Table Grape |
| CN109463129A (en) * | 2018-12-29 | 2019-03-15 | 贺州学院 | A kind of picking mechanical arm |
| CN110692355A (en) * | 2019-11-21 | 2020-01-17 | 江西理工大学 | Automatic collection device that cuts of sisal hemp blade |
-
2017
- 2017-11-03 CN CN201721450245.XU patent/CN207427851U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107667670A (en) * | 2017-11-03 | 2018-02-09 | 山东农业大学 | The lossless intelligence classification cropper and its control method of a kind of castatopsis fissa Table Grape |
| CN109463129A (en) * | 2018-12-29 | 2019-03-15 | 贺州学院 | A kind of picking mechanical arm |
| CN110692355A (en) * | 2019-11-21 | 2020-01-17 | 江西理工大学 | Automatic collection device that cuts of sisal hemp blade |
| US11528844B2 (en) | 2019-11-21 | 2022-12-20 | Jiangxi University Of Science And Technology | Automatic harvesting and collecting device for sisal hemp leaves |
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