Fully-automatic kiwi fruit picking end effector

A technology of end effector and kiwi fruit, which is applied in the direction of picking machines, agricultural machinery and implements, etc., can solve the problem that there are no relatively mature research results on the end effector of kiwi fruit picking, so as to improve international competitiveness and avoid labor intensity. Realize the effect of automation and intelligence

Inactive Publication Date: 2015-06-17
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There are no relatively mature research results in China on the research on the end effector of kiwi fruit picking

Method used

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  • Fully-automatic kiwi fruit picking end effector
  • Fully-automatic kiwi fruit picking end effector
  • Fully-automatic kiwi fruit picking end effector

Examples

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Embodiment Construction

[0013] Below in conjunction with accompanying drawing, the present invention will be further described:

[0014] Such as figure 1 and figure 2 As shown, a schematic diagram of the structure of a fully automatic kiwi fruit picking end effector, including a clamping device, a shearing device, a detection device, and a chassis shell. The clamping device includes a left support frame 1, a horizontal reducer drive motor 2 , lifting mechanism pulley 3, frame body 13, short connecting rod 15, external long connecting rod 25, internal long connecting rod 26, oblique connecting rod 30, picking hand frame 22, picking fingers 23, guide rod 28, screw rod 29, Lifting nut 33, lifting mechanism reducer assembly 40, coupling 41, the horizontal reducer drive motor 2 is installed on the left support frame 1, and the horizontal reducer drive motor 2 is driven through the belt by means of the lifting mechanism pulley 3 Connect the lifting mechanism reducer assembly 40, the lifting mechanism re...

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Abstract

The invention relates to a fully-automatic kiwi fruit picking end effector. The fully-automatic kiwi fruit picking end effector comprises a holding device, a shearing device, a detecting device and a machine case housing. The holding device comprises a horizontal type speed reducer driving motor, lifting mechanism belt pulleys, a lifting mechanism speed reducer assembly, a screw, a lifting nut, connecting rods and picking fingers and is used for driving the picking fingers to move back and forth and holding and separating kiwi fruit; the shearing device comprises a vertical type speed reducer driving motor, winding mechanism belt pulleys, a winding mechanism speed reducer assembly, winders, torsion springs, electromagnets and blades and is used for cutting the carpopodium of the kiwi fruit; the detecting device comprises a picking pressure sensor, a limit pressure sensor and a revolution sensor and is used for detecting information of all positions during a kiwi fruit picking process and providing control information for a controller. The fully-automatic kiwi fruit picking end effector is easy to control, reliable in operation, achieves automated and intelligentized kiwi fruit picking, saves manpower, increases operation efficiency and reduces labor costs.

Description

[0001] 1. Technical field: The present invention relates to orchard picking robot technology, in particular to a fully automatic kiwi fruit picking end effector, which belongs to the field of agricultural machinery. 2. Background technology: [0002] Shaanxi Province is the main production area of ​​kiwifruit in my country. As the market demand and output of kiwifruit continue to increase, the traditional manual picking method can no longer meet the production requirements for picking efficiency. Realizing the mechanized picking of kiwifruit can not only improve production efficiency, but also liberate rural productivity. [0003] The research scope of foreign fruit picking robot end effectors is relatively wide. The development of picking end effectors for apples, citrus, tomatoes, cucumbers, tomatoes and shiitake mushrooms is relatively mature, and the degree of picking mechanization is relatively high. However, foreign countries currently have no fruit-picking machinery for...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/24
Inventor 陈军慕军营韩冰刘斐毕秋实马阳王峰霞李博王荣槭树腾刘凡一
Owner NORTHWEST A & F UNIV
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