A Circumferential Swing Type Anti-Flying Jujube Harvesting End Effector

Abstract

The invention provides a circumferential pair whipping type anti-flying type jujube harvesting end effector, which relates to the field of agricultural picking robots. , No. 1 roller motor, No. 2 pumping roller, No. 2 roller motor, No. 3 roller motor, No. 3 pumping roller, No. 4 roller motor, No. 4 pumping roller and No. 2 lifting cylinder, The No. 1 whipping roller includes a roller shaft, a roller, a No. 1 long rubber rod and a No. 2 long rubber rod. The present invention adopts four whipping rollers arranged in the circumferential direction, and the left and right are relatively arranged. The relative whipping in the center realizes the jujube picking method in which the jujube is separated from the hanger in the vertical direction, and the jujube falls directly into the corrugated slide tube below for collection, which solves the problem of jujube flying randomly and collects difficulties, and realizes the automatic harvesting operation of jujube.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a circumference-to-beating type anti-flying jujube harvesting end effector. Background technique [0002] Jujube is an economic plant native to my country. It has a wide planting area and has high medicinal value, edible value and ecological value. However, at present, the orchards in my country are mainly harvested by hand and with the aid of simple tools such as ladders and fruit picking knives. , time-consuming and labor-intensive, and labor-intensive. In the existing technical research, the mechanical equipment of the Xinjiang Academy of Agricultural Sciences studied the design of the 4YS-24 jujube harvester. posed difficulties. [0003] Chinese patent 201010501944.9 discloses a kind of electric jujube picking machine, is provided with rubber strip on the cylinder, comes whipping jujube with rubber strip and realizes that jujube breaks away from the jujube hanger, bu...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides a circular-to-beat anti-random-flying type jujube harvesting end effector, which overcomes the defects of low manual picking efficiency and low degree of mechanization of the existing jujube. The four whipping rollers arranged in the direction are set opposite to the left and right, and they are whipped relatively in the whipping platform to realize the picking method of jujubes in the vertical direction away from the crane, and the jujubes fall directly into the corrugated sliding tube below for collection, which solves the problem of jujubes flying randomly collection of difficult questions

Images