Twist-off picking paw mechanism and picking method thereof

Abstract

The invention relates to a twist-off picking paw mechanism and a picking method thereof. The mechanism is characterized by comprising a bracket provided with an upper support plate and a lower support plate, a screw transmission device arranged on the upper support plate, a rotation device arranged on the lower support plate, and a paw device connected on the rotation device; the screw transmission device is connected with a screw through a screw motor, and the screw is in threaded connection with a slide block passing through two guide rods; the rotation device is connected with a rotary input shaft through a rotation motor, the rotary input shaft is fixedly connected with a driving wheel which is engaged with a driven wheel on a rotary output shaft, and the rotary output shaft is in rotary connection with the lower support plate and passes through and is fixedly connected with a substrate; and the paw device comprises two fixed plate arranged on the substrate, the other ends of the two fixed plates are hinged with an L-shaped finger driving plate respectively, a V-shaped finger is fixed on the lower parts of the finger driving plates respectively, the upper parts of the finger driving plates are provided with a chute respectively, a push rod is connected in the two chutes together through a connecting pin, and the other end of the push rod passes through the rotary output shaft and is fixedly connected on the slide block.

Description

technical field [0001] The invention relates to a picking mechanism and a picking method thereof, in particular to a twist-off picking claw mechanism and a picking method thereof. Background technique [0002] Fruit picking is the main task of fruit production. At present, most domestic and foreign fruit picking methods are manually picked, which is labor-intensive and time-consuming. With the increasingly tense labor force, the mechanization of fruit picking has become an inevitable trend. A lot of research has been done on the end effector of fruit and vegetable picking robots at home and abroad. Due to the individual differences of fruits and vegetables, the design mechanisms of the grippers are also various. In fruit picking, most fruit stalks are cut off with a cutter, and the movement of the cutter requires additional power drive, which makes the structure of the claws complicated and increases the cost of the mechanism. Contents of the invention [0003] In view o...

AI Technical Summary

Problems solved by technology

In fruit picking, most of the fruit stems are cut off with a cutter. The movement of the cutter requires additional power drive, which makes the structure of the claws complicated and increases the cost of the mechanism.

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