Airbag type citrus picking manipulator end executor and picking method thereof
A technology of end effectors and manipulators, which is applied in the direction of picking machines, agricultural machinery and implements, harvesters, etc., can solve the problems of too long fruit stem clamping, low degree of mechanization, and low picking efficiency, so as to improve efficiency and success rate , to ensure the effect of non-destructive picking
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[0025] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and the protection scope of the present invention is not limited to the following specific embodiments. .
[0026] An airbag-type citrus picking manipulator end effector and picking method designed by the invention utilizes a multi-joint mechanical arm to acquire and perceive the working environment and citrus information in real time through multi-sensor information fusion, so as to ensure that the alignment is completed without damaging the citrus. The working process of fruit, clamping close to the airbag, contacting the stalk of the blade, and cutting the stalk by the cutting blade, the invention adopts the picking method of holding the citrus by the airbag and cutting the stalk with double blades, which solv...
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