A brush-like wolfberry picking end effector

Abstract

The invention belongs to the technical field of agricultural machines, and particularly relates to a combing-brush profile-modeling fructus-lycii picking tail-end executor. The combing-brush profile-modeling fructus-lycii picking tail-end executor comprises a main shaft and groove cams connected to the two ends of the main shaft. A plurality of picking fingers are hinged to the middle of the mainshaft, and are combined together to be in emission shapes from inside to outside, a ring of cam groove is formed in the inner side of the each groove cam in a milled mode, and cam driven bearings arearranged in the cam grooves and can freely roll along the cam groove; pressing plates are installed between the corresponding cam driven bearings on the two groove cams, a plurality of holes are formed in the pressing plates, each picking finger penetrates through the middle of each hole, the picking fingers are driven to rotate when the main shaft rotates, and drive the pressing plates to rotate,the holes in the pressing plates slide up and down at the lower ends of the picking fingers, and therefore gap changes between the picking fingers are oppressed. The structure is simple, the cost islow, and mature fruits can be effectively screened and picked; the breakage rate of fructus lycii is greatly reduced; meanwhile, friction force between the picking fingers and the fructus lycii is enlarged, and the net picking rate is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an end effector for combing and profiling wolfberry picking. Background technique [0002] Lycium barbarum is a berry plant with infinite inflorescences. The picking period is from early June to late October. It is harvested every seven days or so. The water content of mature wolfberry is about 80%, and it is easy to be damaged during the picking process. As the market demand continues to increase, the planting area of ​​wolfberry is also expanding, and more and more labor is needed. However, due to the impact of urbanization, the number of farming population has dropped sharply, and wolfberry is often not harvested in time due to labor shortages, resulting in serious problems. Economic losses. However, the growth of wolfberry is complicated. On the same fruit-bearing node, green fruits, flowers and leaves, and ripe fruits coexist. , the picking effic...

AI Technical Summary

Problems solved by technology

The wolfberry picking motor CN201410498476.2 developed by Gao Huaizhi and others adopts the shape of human hand, and the string is intermittently tightened and loosened under the control of the cam, so that the extension length of the mechanical finger in the radial direction changes, and the extension of the mechanical finger changes. With a certain angle of extension, the distance between adjacent mechanical fingers changes with different extension lengths. When the extension is extended, the distance becomes larger, and the wolfberry falls from the gap between the fingers into the wolfberry frame; but the structure is complex and the processing is difficult. Poor equipment reliability, low picking efficiency and high cost

Images