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Destemming Picking Hands

A technology of claws and fruit stems, applied in the field of destemmed picking claws, can solve the problems of tomato fruit body damage, damage to tomato fruit body quality, etc., and achieve the effect of preventing transportation damage

Active Publication Date: 2017-10-31
INTELLIGENT EQUIP TECH RES CENT OF BEIJING ACAD OF AGRI & FORESTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During tomato transportation, the existence of fruit stalks can easily cause damage to the tomato fruit body and damage the quality of the tomato fruit body

Method used

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  • Destemming Picking Hands
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  • Destemming Picking Hands

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] figure 1 It is a schematic structural diagram of a destemmed picking claw provided by Embodiment 1 of the present invention. Please refer to figure 1 , the picking hand provided by the present embodiment includes: fruit separation and clamping mechanism 100, fruit stem clamping mechanism 200, fruit stem breaking mechanism 300;

[0067] Wherein, the fruit separation clamping mechanism 100 is used to separate the target fruit 400 from other fruits on the fruit seedling, and clamp the fruit body 402 of the target fruit 400;

[0068] The fruit stem clamping mechanism 200 is used to clamp the fruit stem 401 of the target fruit 400 when the fruit separation clamping mechanism 100 clamps the fruit body 402 of the target fruit 400;

[0069] The fruit stem breaking mechanism 300 is connected with the fruit separation and clamping mechanism 100, and is used to clamp the fruit body 402 of the target fruit 400 in the fruit separation and clamping mechanism 100, and the fruit stem c...

Embodiment 2

[0077] A specific embodiment is introduced below to describe the destemmed picking claw provided by the present invention in detail.

[0078] figure 2 It is a schematic diagram of the structure of the destemmed picking claw cylinder provided in the second embodiment of the present invention when it is in the extended state, image 3 Schematic diagram of the structure of the destemmed picking claw cylinder provided in Embodiment 2 of the present invention when it is in a contracted state; Figure 4 for figure 2 sectional view of Figure 5 It is a schematic structural diagram of the fruit stem clamping part of the destemmed picking gripper provided in the second embodiment of the present invention. The following will combine Figure 2 to Figure 5 , detailing the structure and working principle of the destemmed picking gripper provided in the second embodiment of the present invention.

[0079] Please also refer to Figure 2 to Figure 4 , the destemming type picking hand ...

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Abstract

The invention provides a stem-removing picking gripper. The stem-removing picking gripper comprises a fruit separation holding mechanism, a stem clamping mechanism, and a stem tearing mechanism. The fruit separation holding mechanism is used for separating a target fruit and other fruits on a seedling, and is used for holding the body of the target fruit. The stem clamping mechanism is used for clamping the stem of the target fruit when the fruit separation holding mechanism is holding the body of the target fruit; the stem tearing mechanism is connected with the fruit separation holding mechanism, and is used for pulling the fruit separation holding mechanism when the fruit separation holding mechanism is holding the body of the target fruit and the stem clamping mechanism is clamping the stem of the target fruit, such that the fruit body of the target fruit can be separated from the stem. With the stem-removing picking gripper provided by the invention, stem-removing picking of target fruits can be realized, and fruit bodies can be prevented from being damaged by stems during a transportation process.

Description

technical field [0001] The invention relates to agricultural intelligent equipment technology, in particular to a destemming type picking hand claw. Background technique [0002] With the development of electronic technology and computer technology, picking robots have been widely used in picking operations. As an important part of the picking robot, the picking claw is designed to be directly related to the efficiency of picking operations and the effect of fruit picking. [0003] Tomato fruit has the characteristics of clustering, which is mainly manifested by the fact that multiple fruits of different sizes touch each other and gather into clusters. And the tomato fruit is softer. The clustered, tender nature of tomato fruit makes the task of designing a picking hand for picking tomatoes even more difficult. [0004] At present, when picking tomatoes, the separation of tomato fruit and fruit seedlings is mainly achieved by using a screw-type picking claw. After the ai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/00A01D75/00
CPCA01D46/00A01D75/00
Inventor 冯青春王国华王秀赵学观范鹏飞邹伟
Owner INTELLIGENT EQUIP TECH RES CENT OF BEIJING ACAD OF AGRI & FORESTRY