Airbag type citrus picking manipulator end executor and picking method thereof

Abstract

The invention provides an airbag type citrus picking manipulator end executor and a picking method thereof and relates to the field of agricultural harvesting robots. The airbag type citrus picking manipulator end executor is formed by an airbag barrel, airbag inlets, a blade docking part, a first rotary cylinder, airbags, a second rotary cylinder, a cutting blade, a mechanical arm fittings and abellows receiving box and is characterized in that the airbag barrel is connected with the mechanical arm fittings, the blade docking part is mounted on the shaft of the first rotary cylinder, the second rotary cylinder is mounted on a cross plate of the side wall of the airbag barrel, the cutting blade is mounted on the shaft of the second rotary cylinder, and the bellows receiving box is connected to the lower end of the airbag barrel. The airbags are adopted to clamp citruses, fruit stems are cut through the double blade, the working process is completed by aligning to fruit, approaching tothe airbags for clamping, allowing the blade docking part to contact the fruit stems and the cutting blade to cut off the fruit stems, the technical problem that the fruit stems are too long and easyto damage in clamping during citrus picking is solved, and automatic citrus picking is realized.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an airbag-type citrus picking manipulator end effector and a picking method. Background technique [0002] Citrus fruit trees have thorns. At present, when picking citrus, Chinese fruit farmers are accustomed to picking with ordinary fruit scissors and assisting with hands. Not only are they easily injured, but they are also likely to cause the fruit stalk to be too long, so that the fruits will hurt each other when they are piled up or transported. Damaged, causing citrus juice to flow out, shortening the storage time of citrus, and with the development of urbanization and the aging of people in our country, the problem of labor shortage is becoming more and more important. [0003] The end effector of the manipulator of the citrus picking robot is installed at the front end of the robotic arm, directly in contact with the citrus, and is the key execution part of picki...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides an airbag-type citrus picking manipulator end effector and a picking method, which overcomes the defects of low efficiency and low degree of mechanization of the existing citrus manual picking. The picking method of cutting the fruit stem with a blade solves the technical problems of the fruit stem being too long and easy to be damaged when picking citrus

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