Twist type nut picking manipulator and nut picking method

Abstract

The twisting nut picking manipulator and the nut picking method include a Y-shaped electric handle that can be opened and closed automatically at the upper end, and it is characterized in that the upper end of the Y-shaped electric handle is equipped with an electric fruit torsion assembly that can generate rotational torque and is connected with the electric fruit torsion assembly The fruit clamping components that are coaxially opposite and not in contact, the outer circumference of the electric fruit twisting component and the fruit clamping component are respectively equipped with branch clamping components, and the two branch clamping components are coaxially opposite and elastically contacted, and the electric fruit The twisting component and the fruit clamping component separate or approach with the opening and closing of the Y-shaped electric handle, and drive the two branch clamping components to separate or approach, and the branch connected to the fruit is clamped between the two branch clamping components During the period, the fruit is clamped between the electric fruit torsion assembly and the fruit clamping assembly, and is separated from the branch by the rotation torque of the electric fruit torsion assembly, and the actions of the Y-shaped electric handle and the fruit clamping assembly are coordinated and controlled by the control key .

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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