Rotary nut-picking manipulator and nut picking method

Abstract

A rotary nut-picking manipulator and a nut picking method are provided. The rotary nut-picking manipulator comprises a Y-shaped electric handle having an automatically openable upper end, and is characterized in that an electric fruit rotation component capable of generating rotational torque and a fruit clamping component coaxially facing the electric fruit rotation component with no contact; branch clamping components are mounted on the peripheries of the electric fruit rotation component and the fruit clamping component respectively; the two branch clamping components coaxially face each other and are in elastic contact; the electric fruit rotation component and the fruit clamping component separate or approach with opening or closing of the Y-shaped electric handle, the two branch clamping components are driven to separate or approach, branches connected with a fruit are clamped between the two branch clamping components, the fruit is clamped between the electric fruit torsion component and the fruit clamping component and is separated from the branches through the rotational torque of the electric fruit rotation component; actions of the Y-shaped electric handle and the fruitclamping component are centrally and coordinatively controlled through control keys.

Description

technical field [0001] The invention relates to a twisting nut picking manipulator and a nut picking method, which are used to realize automatic picking of nuts. Background technique [0002] In my country's characteristic forest fruits such as walnuts, chestnuts, hazelnuts and ginkgo, some characteristic dried fruit industrial production bases have been formed, with considerable economic benefits. Picking and harvesting account for about 33% to 50% of the entire workload. Due to the complexity of picking operations, the degree of automation in picking is still very low. At present, domestic fruit picking operations are basically carried out manually. Fruit picking is highly seasonal, labor-intensive, and expensive. Therefore, ensuring timely and rapid harvesting of fruits and reducing harvesting costs are urgent problems for fruit farmers to increase their income. [0003] Nut picking actuator, as the final execution part of the interaction between the nut picking machine...

AI Technical Summary

Problems solved by technology

[0009] The mechanical picking equipment in the prior art mainly picks through vibration to make the fruit fall off, but the problem is that not only the root of the fruit tree is easily loosened during the vibration process, but also the secondary branches directly connected to the fruit are easily vibrated. will be broken during the vibration process, causing damage to the fruit tree

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