Telescopic, torque-fixed and self-transporting type apple highly-efficient picking mechanical arm

Abstract

The invention discloses a telescopic, torque-fixed and self-transporting type apple highly-efficient picking mechanical arm. The telescopic, torque-fixed and self-transporting type apple highly-efficient picking mechanical arm comprises a supporting part, a picking part and a conveying part, wherein the picking part comprises a traction device and a clamping and picking device; the traction deviceis arranged at the position of the central part of the supporting part; the clamping and picking device is arranged at the top part of the supporting part; the traction device controls the clamping and picking device to clamp an apple and cut a fruit stem through a steel wire rope under the condition of guaranteeing the apple from being damaged; the conveying part comprises a sliding conveying device and a conveying locking device; the sliding conveying device is arranged below the clamping and picking device, and slides up and down along the supporting device under the control of a control device; and the conveying locking device locks the sliding conveying device when the sliding conveying device reaches a designated position.

Description

technical field [0001] The invention relates to fruit picking, in particular to a retractable, constant moment, self-transporting efficient apple picking manipulator and method. Background technique [0002] my country is the world's largest fruit producer and also the world's largest fruit consumer. The rapid development of the fruit planting industry has increased the market demand for orchard machinery. The labor force used in the picking operation accounts for 33% to 50% of the labor force used in the entire production process. At present, most of the fruit picking in my country is still mainly manual picking. The picking operation is relatively complicated and seasonal. And it is easy to cause damage to the fruit, and insufficient manpower can not be picked in time and can also cause economic losses. Therefore, it is of great significance to improve the degree of mechanization of picking operations. [0003] In the process of fruit picking, high-altitude fruit picking...

AI Technical Summary

Problems solved by technology

Most fruit growers use self-made small tools or escalators to pick, but this method of picking is difficult and inefficient. At the same time, the safety of this working method is low, and the fruit growers may fall.

[0004] With the development of science and technology, there are many kinds of fruit picking devices and tools on the market. For example, Chinese patent 201510986070.3 discloses a basket scissors type fruit picking device. Larger baskets collect multiple fruits at one time. After the basket is full, the pole is lowered for collection. The disadvantage of this equipment is that with the increase in the number of fruits picked in the basket, the burden on the picker increases, and the collection process is too clumsy and inefficient. ; Chinese patent 201710393028.X discloses an integrated picking device for picking and collecting. The fruit is cut off by the blade in the picking tube on the upper side, and then the fruit is slid to the bottom through the delivery tube. The disadvantage of this device is that the picking flexibility of the device is low , the picking angle is limited, and the fruit is easy to be damaged during the process of slipping and collecting; Chinese patent 201720326685.8 discloses a fruit picking robot, which uses picking hands and a walking trolley to pick and collect fruits. The disadvantage of this equipment is that the walking trolley has high requirements for the working scene , the application space is limited, and the cost of the device is quite high, so it is not suitable for promotion

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