A two-degree-of-freedom fruit picking device
A technology with a degree of freedom and fruit, applied in the field of agricultural machinery, can solve problems such as unsafe picking process, fruit surface damage, and low picking efficiency, and achieve the effects of easy portability and disassembly, not easy to damage, and low labor intensity
Active Publication Date: 2020-03-27
CHAOHU UNIV
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Problems solved by technology
[0004] The purpose of the present invention is to overcome the current fruit picking which is labor-intensive, time-consuming, and low-efficiency picking, and the picking process is unsafe, and the surface damage of the fruit is likely to be caused during the picking process, that is, to provide a fruit picking machine with reliable work, simple operation and convenient maintenance. , not easy to damage the fruit tree, high picking efficiency, easy to carry and disassemble a two-degree-of-freedom fruit picking device
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[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.
[0019] Such as figure 1 As shown, a two-degree-of-freedom fruit picking device includes a body 1, a clamping device 2, a power mechanism 3, a power mechanism 2 4, a force sensor 5, a camera 6, and a controller 7. The body 1 includes a casing One 11, cylinder one 12, cylinder two 13, casing two 14, cylinder three 15, cylinder four 16, casing three 17, the upper end of the cylinder one 12 is fixedly connected to the casing one 11, The first cylinder 12 is installed on the second cylinder 13 through a thrust bearing, the lower end of the second cylinder 13 is connected to the second casing 14 through threads, and the upper end of the third cylinder 15 is installed on the casing through threads On the second 14, the lower end o...
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The invention discloses a two-degree-of-freedom fruit picking device. The two-degree-of-freedom fruit picking device comprises a machine body, a clamping device, a first power mechanism, a second power mechanism, a force sensor, a camera and a controller, wherein an air pump is used for providing power for the clamping device, the power is transmitted to an elastic pad through an air cylinder so as to clamp a fruit, and a motor is used for providing power for the first power mechanism; a clamping head is pulled to rotate in the horizontal direction by a rope, and the second power mechanism isalso pulled by a rope and conducts rotation around a Z axis by means of a cam mechanism; the force sensor is used for transmitting a current pressure value to the controller, and if the pressure valueexceeds an allowable range of maximum force, the air pump can be shut off by the controller, so that the fruit can be prevented from being broken due to clamping; the camera is used for observing positions and growth conditions of the fruit. The device can be applied to picking places of multiple kinds of fruits and has the advantages of a function of fruit picking and high efficiency of picking,a fruit tree is not damaged easily, and the labor intensity can be reduced; besides, the device has the advantages of being convenient to carry and disassemble, reliable in work, simple to operate, convenient to maintain and the like.
Description
technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a two-degree-of-freedom fruit picking device. Background technique [0002] The fruit industry is an important part of my country's agricultural industry. In actual fruit production, picking is the most time-consuming and labor-intensive link, accounting for about 40% of the workload in the entire production process. The quality of picking operations depends on It will directly affect the storage, processing and sales of fruits, and ultimately affect market prices and economic benefits. At present, when picking, people mostly use the method of climbing branches and picking directly by hand. This method not only has low picking efficiency and high labor costs, but also easily causes personal casualties, and there is a great potential safety hazard. Damage to fruit tree branches. [0003] In modern agriculture, picking operations require pickers not only...
Claims
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IPC IPC(8): A01D46/247
CPCA01D46/247
Inventor 龚智强张先泽梁三金杨胡坤
Owner CHAOHU UNIV