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A citrus picking robot

A technology for picking robots and citrus, which is applied in the direction of picking machines, harvesters, agricultural machinery and implements, etc. It can solve the problems of low picking automation, achieve the effects of reducing screening workload, good protection, and increasing the picking range

Active Publication Date: 2019-12-17
温州市天速光电科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the complexity of picking operations, the degree of picking automation is still very low. At present, domestic fruit picking is basically done manually

Method used

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  • A citrus picking robot
  • A citrus picking robot
  • A citrus picking robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] Embodiment one, such as Figure 5 As shown, the contact part 300 is a sponge clamping layer (made of sponge), the elastic sheet 200 is penetrated in the sponge clamping layer, and the sponge clamping layer is covered with a soft wear-resistant layer 800. The surface of the wear-resistant layer 800 is provided with a fluff layer, and the sponge clamping layer is connected to the splint 100 . The sponge clamping layer has good elasticity and deformation recovery ability, and will not pinch citrus, and the elastic sheet 200 is inserted in the sponge clamping layer, which is beneficial to the recovery of the deformation of the sponge clamping layer, and forms the elastic sheet 200 and the sponge clamping layer. The layers work together to hold the citrus state. The setting of wear-resistant layer 800 is in order to protect sponge, avoids that sponge is worn, and the setting of fluff layer makes the clamping surface of citrus more soft simultaneously, can not cause damage t...

Embodiment 2

[0044] Embodiment two, such as Figure 6 As shown, the contact portion 300 is an internally inflated airbag holding bag (inflated bag), the elastic piece 200 is located inside the airbag holding bag, the airbag holding bag is connected to the splint 100, and the airbag holding bag can be pulled Made of stretchable elastic material, the airbag holding bag has good deformation performance, which can meet the deformation, stretching and wear conditions during picking. The airbag holding bag is filled with suitable gas. When the citrus is clamped, the citrus will force the airbag holding bag to deform. With the deformation of the airbag holding bag, the citrus contacts with the depression 2002 on the elastic sheet 200, and gradually forces the airbag to deform. The elastic sheet 200 is deformed, so that the citrus is clamped, and the citrus is clamped by the gas elastic force of the airbag clamping bag and the deformation elasticity of the elastic sheet 200, while the depression 2...

Embodiment 3

[0045] Embodiment three, such as Figure 7 As shown, the contact portion 300 is an internally inflated airbag clamping pad (air cushion with a certain thickness), and the four corners of the airbag clamping pad are respectively connected to the two intersecting elastic pieces 200. The airbag clamping pad can be formed by Made of stretchable elastic material. Only with this technical scheme, when the citrus is picked, the citrus is clamped between the two airbag clamping pads, forcing the airbag clamping pad to undergo elastic deformation, and gradually deforms into the depression 2002, so that the citrus is clamped stably In the depression 2002, because the air cushion plays a good protective role in the middle, the citrus will not be pinched by the elastic sheet 200.

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Abstract

The invention discloses an orange picking robot. The orange picking robot comprises a mechanical executing system and a control system and is characterized in that the mechanical executing system comprises an elongated vehicle, a five-freedom-degree picking mechanical arm and an end executor; a picking position regulating rail is arranged on the upper surface of the vehicle along the length direction of the vehicle; the rotating base of the five-freedom-degree picking mechanical arm is slidably mounted on the picking position regulating rail, the end executor comprises two parallel clamp plates, the two clamp plates can move towards each other to perform clamping, the clamping face of each clamp plate is provided with a sponge clamping layer, a strip-shaped elastic piece arched towards theclamping direction is arranged in each sponge clamping layer, the middle protruding part of each elastic piece is located in the middle of the corresponding sponge clamping layer, and the middle protruding part of each elastic piece bends inwardly to form a recessed part for clamping an orange. The orange picking robot is large in picking area, capable of avoiding orange damage during picking andcapable of automatically grading the picked oranges according to the weights of the oranges.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to a citrus picking robot. Background technique [0002] Fruit and vegetable harvesting is labour-intensive and labor costs are increasing in many countries due to aging populations and a growing shortage of agricultural labor. Fruit and vegetable picking operations are currently one of the most time-consuming and laborious links in the fruit and vegetable production chain. The quality of picking operations directly affects subsequent processing and storage. Due to the complexity of picking operations, the degree of picking automation is still very low. At present, fruit picking in China is basically done manually. Contents of the invention [0003] The purpose of the present invention is to provide a citrus picking robot, which has a large picking area and will not get citrus in the picking process, and can automatically grade and recycle the picked citrus according to thei...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30B07C5/24
CPCA01D46/30B07C5/24B07C2501/009
Inventor 李庆海
Owner 温州市天速光电科技有限公司