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End effector for self-adaptive picking of watermelons

An end-effector, self-adaptive technology, applied in the field of agricultural machinery, can solve the problems of high cost and low efficiency of watermelon

Inactive Publication Date: 2022-07-29
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of low efficiency and high cost of manual watermelon picking, the present invention provides an end effector for self-adaptive picking of watermelons to reduce labor costs and increase production efficiency

Method used

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  • End effector for self-adaptive picking of watermelons
  • End effector for self-adaptive picking of watermelons
  • End effector for self-adaptive picking of watermelons

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Experimental program
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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the accompanying drawings.

[0017] refer to Figure 1 to Figure 5 , an end effector for adaptive picking of watermelon, including a clamping mechanism for clamping watermelon and a shearing mechanism for realizing picking and shearing action, the clamping mechanism includes a fixed base 101, a screw step Into the motor 102, the motor base 103, the guide rod 104, the screw nut 105, the lifting platform 106, the bearing seat 107, the base 108, the base connecting block 109 and the underactuated manipulator finger 110, the fixed base 101 is used for the end effector and For the connection of the manipulator, the lead screw stepping motor 102 is an integrated product of the lead screw and the stepping motor. The motor base 103 fixes the lead screw stepping motor 102 on the fixed base 101 with screws. The lead screw nut 105 and the lifting platform 106 It is fixedly connected and is sleeved on the le...

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Abstract

An end effector for self-adaptive picking of watermelons comprises a clamping mechanism for clamping the watermelons and a shearing mechanism for achieving picking and shearing actions, in the clamping mechanism, a fixing base is used for connecting the end effector with a mechanical arm, and a lead screw stepping motor is fixedly installed on the fixing base through a motor base; the lead screw nut is connected with the lifting platform and installed on a lead screw of the lead screw stepping motor, the bearing seat is connected with the other end of the lead screw and installed on the base, the guide rod is fixedly connected with the base and the base, the base connecting block is installed on the base, and the three under-actuated mechanical fingers are evenly installed on the lifting platform and the base connecting block. And a cavity enclosed by the three under-actuated manipulators is a watermelon model for placing watermelons. According to the invention, the labor cost is reduced and the production efficiency is improved.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, in particular to an end effector for adaptive picking of watermelons. Background technique [0002] Watermelon is a seasonal fruit that occupies an important position in my country's fruit and vegetable industry. It has refreshing thirst-quenching, sweet and juicy taste, strong production adaptability and short cultivation period in terms of plantability, and large market demand and income in terms of efficiency. The effect is remarkable and so on. However, at present, watermelons are mainly harvested manually. Due to the large planting area and the need to cut the vines one by one, the picking work is time-consuming and laborious, consumes a lot of manpower, and has a low degree of automation. In addition, when picking watermelons in the watermelon field, the entry of pickers will also lead to damage and trample on the vines of watermelons, thereby indirectly affecting the growth of unripe ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/24
CPCA01D46/24
Inventor 杨庆华王志杰曾翰喜荀一王志恒都明宇
Owner ZHEJIANG UNIV OF TECH
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