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Fruit picking device based on non-uniform parallel mechanism

A non-uniform distribution and parallel technology, applied in the direction of picking machines, manipulators, harvesters, etc., can solve the problems of low picking efficiency and low picking precision, and achieve the effects of high precision, no cumulative error, and small inertia

Active Publication Date: 2017-03-29
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of relatively low picking accuracy and low picking efficiency in current fruit picking devices, and propose a fruit picking device based on a non-uniformly distributed parallel mechanism

Method used

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  • Fruit picking device based on non-uniform parallel mechanism
  • Fruit picking device based on non-uniform parallel mechanism
  • Fruit picking device based on non-uniform parallel mechanism

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] Such as figure 1 As shown, the present invention comprises fixed platform 10, four motors 20, four groups of control arms 30, moving platform 40, terminal picking mechanism 50 and control system 60; On the fixed platform 10, four motors 20 are all connected with the moving platform 40 positioned at the front of the fixed platform 10 through respective control arms 30, and the end picking mechanism 50 for picking fruit is installed on the moving platform 40 front, four motors 20 and The terminal picking mechanisms 50 are all connected with the control system 60 .

[0033] The fixed platform 10 can be installed on the front portion of the fruit picking car, and the control system 60 judges whether the fruit is firmly grasped and implements the fruit picking operation.

[0034] Such as figure 2 As shown, the motor 20 is uneven...

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Abstract

The invention discloses a fruit picking device based on a non-uniform distribution parallel mechanism. The fruit picking device comprises a fixed platform, four motors, four sets of controlling arms, a movable platform, a tail end picking mechanism and a control system. The fixed platform is placed vertically. The four motors are connected with the movable platform in front of the fixed platform through the corresponding controlling arms. The tail end picking mechanism used for picking fruits is installed on the front portion of the movable platform. The four motors and the tail end picking mechanism are connected with the control system. According to the fruit picking device, the tail end picking mechanism can be controlled to position the fruits at any angles, the fruits can be picked at any angles, the inertia of the picking mechanism is greatly reduced, and the accuracy of the picking mechanism is improved; damage to the fruits can be reduced during picking, and the fruit picking device has the fruit picking advantages of being flexible, accurate, fast and low in damage.

Description

technical field [0001] The invention belongs to the technical field of agricultural product harvesting machinery, and in particular relates to a fruit picking device based on a non-uniform parallel mechanism, which is used for picking tree fruits such as apples, oranges, and sweet oranges. Background technique [0002] Fruit picking is the most time-consuming and labor-intensive link in fruit production. Taking 2013 as an example, the planting area of ​​orchards in my country was 11.1395 million hectares, and the total fruit output was 200 million tons. The ripening season of the same kind of fruit is relatively concentrated, such as the picking period of apples is less than 10 days. At present, fruit picking in my country is basically manual work, with high labor intensity, low production efficiency and harsh working environment. Therefore, the development of mechanized picking devices has very positive significance for solving labor productivity and improving the automati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J15/08A01D46/24
Inventor 王剑平孙莹张剑一俞永华
Owner ZHEJIANG UNIV
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