A four-link mechanism helical type winter jujube picking end effector and picking method

Abstract

The invention provides a four-bar linkage mechanism helical type winter jujube picking end effector and a picking method, which relate to the field of agricultural picking robots, and are composed of an action S48d sensor, a front vertical plate, a linear guide rail, a lead screw, a nut slider, and a rocker. , No. 1 stepper motor, rake, connecting rod, No. 1 encoder, support shaft, No. 2 stepper motor, rear vertical plate, No. 3 stepper motor, reset S48d sensor, mobile platform, crank and No. 2 encoder Yes, the nut slider includes a No. 2 stepping motor mount and a No. 2 encoder mount, and the rake includes a rake shaft and arc fingers. The problem of picking difficulties caused by the irregular growth of the hanging fruit, the rake combs the winter jujube back, so that the winter jujube and the fruit hanging form an angle, and it is easier to separate from the hanging hanging, which improves the adaptability of the end effector of the winter jujube picking and solves the problem of the winter jujube. The problem of low efficiency of manual picking.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a four-bar linkage helical type winter jujube picking end effector and a picking method. Background technique [0002] Dongzao originated in Xiawa Town, Zhanhua District, Binzhou City, Shandong Province. It is an excellent late-maturing fresh variety of thornless jujube tree, and it is also recognized as the best quality fresh jujube variety. The average single fruit weight is 17.5g, and the maximum single fruit weight can reach 25g. It is shaped like an apple and is called "little apple". The peel is reddish red and bright, the skin is thin and the meat is crisp, sweet and fragrant, rich in nutrition, and the edible rate reaches 95%. Its nutritional value is high. The biggest feature of winter jujube is its extremely high vitamin C content. The vitamin C content per 100 grams of pulp is as high as 380-600 mg (vitamin C supplements can generally provide 60 mg of vitami...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides a four-bar linkage mechanism helical type winter jujube picking end effector and picking method, which overcomes the defects of low manual picking efficiency and low degree of mechanization of the existing winter jujube. The helical picking mechanism of the rake solves the difficulty in picking jujubes caused by the irregular growth of the jujube stock. The rake combs back the winter jujubes, making the winter jujubes and the fruit hangers form an included angle, which makes it easier to separate from the jujube hangers. The adaptability of the end effector of winter jujube picking solves the problem of low efficiency of manual picking of winter jujube

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