Picking manipulator on picking equipment

Abstract

The invention discloses a picking manipulator on picking equipment. The picking manipulator comprises a C-shaped grooved rail, wherein a baffle plate is fixed on the rear end surface of the grooved rail; the bottom surface of the rear end of the grooved rail is fixed on the baseplate; a plurality of mounting holes are formed in the baseplate on two sides of the grooved rail; a first clamping jaw and a second clamping jaw which are opposite to each other are arranged on the front side of the grooved rail; and each of the first clamping jaw and the second clamping jaw comprises a circular-arc jaw body a and an L-shaped hinging part b. The picking manipulator has the advantages that through the mounting of a linked cutting device on the picking structure of the picking equipment, the picking of a fruit can be achieved, thereby guaranteeing the separation of the fruit from a fruit tree and reducing the damage to the fruit tree; after the fruit is picked, a pressure sensor senses the pressure variation and induces the withdrawal of telescopic rods; then, the fruit drops into a nylon bag hung on fixing hooks; when the weight of fruits in the nylon bag exceeds 5 kg, the picking manipulator is controlled by a controller to stop picking and to convey the picked and bagged fruits to the ground; and accordingly, the picking manipulator can be prevented from moving for several times.

Description

Technical field: [0001] The invention relates to the technical field of agricultural machinery and equipment, in particular to a picking manipulator on the picking equipment. Background technique: [0002] Picking equipment is an important type of agricultural machinery used for picking fruits in agriculture. There are various kinds of picking equipment. For spherical fruits on fruit trees, such as apples and oranges, the existing picking equipment generally uses grippers. To clamp the fruit, and then realize the separation of the fruit and the branch through rapid pulling, but sometimes it is not easy to pick the fruit with this structure of picking structure, and sometimes it may even cause damage to the fruit tree; at the same time, after picking the fruit, it is necessary to turn the clamp Jaw orientation, turn the jaws to the fruit storage position, put the fruit down and approach the fruit tree again for the next picking. This process requires multiple large position c...

AI Technical Summary

Problems solved by technology

[0002] Picking equipment is an important type of agricultural machinery used for picking fruits in agriculture. There are various kinds of picking equipment. For spherical fruits on fruit trees, such as apples and oranges, the existing picking equipment generally uses grippers. To clamp the fruit, and then realize the separation of the fruit and the branch through rapid pulling, but sometimes it is not easy to pick the fruit with this structure of picking structure, and sometimes it may even cause damage to the fruit tree; at the same time, after picking the fruit, it is necessary to turn the clamp Jaw orientation, turn the jaws to the fruit storage position, put the fruit down and approach the fruit tree again for the next picking. This process requires multiple large position changes of the jaws, which not only wastes time, but also affects the mobility of the jaws. The requirements are high, so it is necessary to improve the picking structure of the picking equipment

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