The invention relates to a fully-automatic
kiwi fruit picking end
effector. The fully-automatic
kiwi fruit picking end
effector comprises a holding device, a shearing device, a detecting device and a
machine case housing. The holding device comprises a horizontal type speed
reducer driving motor, lifting mechanism belt pulleys, a lifting mechanism speed
reducer assembly, a screw, a lifting nut, connecting rods and picking fingers and is used for driving the picking fingers to move back and forth and holding and separating
kiwi fruit; the shearing device comprises a vertical type speed
reducer driving motor, winding mechanism belt pulleys, a winding mechanism speed reducer
assembly, winders, torsion springs, electromagnets and blades and is used for
cutting the carpopodium of the
kiwi fruit; the detecting device comprises a picking
pressure sensor, a
limit pressure sensor and a revolution sensor and is used for detecting information of all positions during a
kiwi fruit picking process and providing control information for a controller. The fully-automatic
kiwi fruit picking end
effector is easy to control, reliable in operation, achieves automated and intelligentized kiwi fruit picking, saves manpower, increases operation efficiency and reduces labor costs.