Fruit tree picking robot

Abstract

The invention discloses a fruit tree picking robot. The robot comprises a rack, a collecting frame with an opening is arranged in the rack, a plurality of Mecanum wheels are arranged at the bottom end of the rack, a picking arm joint structure is installed on the rack, and a picking device is installed at the tail end of the picking arm joint structure. The picking arm joint structure comprises a waist joint structure and a plurality of rotating joint structures, and the waist joint structure comprises a waist joint, a waist rotating disc and a first driving device for driving the waist rotating disc to rotate in the horizontal plane. The Mecanum wheels are adopted to reduce the influence caused by land unevenness, and the picking arm joint structure and the picking device are adopted to adapt to picking and cutting of grape vines with different heights. When mechanical analysis is adopted to set clamping force to adapt to most grape bunches, and to set the parameters of a first transmission gear, a second transmission gear, a large gear and a small gear, the picking robot has enough strength and rigidity.

Description

technical field [0001] The invention relates to the technical field of auto parts, in particular to a fruit tree picking robot. Background technique [0002] my country is a big country of fruit trees. Planting fruit trees in many areas of our country has become a pillar industry of the rural economy, and grapes occupy an important position in the fruit industry. However, with grape picking, there is a shortage of labor and a sharp increase in labor costs. During the harvest season, a large number of laborers need to be employed. , high labor intensity, long picking period, and low efficiency. According to research, it is found that grape harvesting is basically manual picking, which increases the cost of fruit farmers to a certain extent. [0003] Reducing the cost of picking and liberating labor while improving the quality of grapes is a key issue in the grape production chain. Based on this, a picking robot is proposed in the prior art for picking vines, clusters of fruits...

AI Technical Summary

Problems solved by technology

The opening and closing angle of the gripper finger of the end effector of the vine and cluster fruit and vegetable picking robot ensures that the gripper can extend into the vine for gripping, cutting and other actions. Usually, the thickness of each vine is different, and the The use of robots in the prior art cannot satisfy the cutting of fruit vines of different thicknesses

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