Picking claw

Abstract

The invention provides a picking claw used for automatically picking fruits and belongs to the technical field of agricultural intelligent equipment. The picking claw comprises a fruit adsorber used for adsorbing target fruits, a fruit clamping device which is connected with the fruit adsorber in a matched mode and used for clamping the target fruits, and a fruit twisting device which is connected with the fruit clamping device, matched with the fruit adsorber and the fruit clamming device and used for twisting the target fruits, so that the target fruits are separated from plants. By means of a twisting fruit separating method of the picking claw, the problems that the postures of the fruit stems of fasciation short fruit stem type fruits which are represented by tomatoes are diverse and the fruits can not be accurately positioned or be accurately cut and separated are solved. Meanwhile, the picking claw is simple in structure, low in manufacturing cost and easy to control.

Description

technical field [0001] The invention relates to the technical field of agricultural intelligent equipment, in particular to a picking gripper for automatically picking fruits. Background technique [0002] In order to reduce the labor intensity of fruit and vegetable picking and improve production efficiency, people began to research and develop picking robots. As one of the key components of the picking robot, the picking claw is used to separate the fruit from the crop after clamping the target fruit. However, since the operating objects of the picking claws are mature fruits growing on the stems of crops, they generally have the characteristics of different postures and shapes, soft and fragile skins, and fruit clusters. The characteristics of size and posture fruit manipulation require comprehensive research on the design of picking claw configuration, automatic control, and material application from the perspective of technology development. [0003] At present, there...

AI Technical Summary

Problems solved by technology

[0005] The above-mentioned picking claws can only pick a certain type of fruit. For some fruits with special growth characteristics, the above-mentioned picking claws cannot be used well, such as tomato

[0006] Tomato fruits are characterized by clusters and short stalks, which are mainly manifested in the fact that 2-5 fruits of different sizes are in contact with each other, gathered in clusters, and have different postures. accurate locating

The fruits are in contact with each other. The above-mentioned middle-finger clamping method is not suitable for tomato picking because there is not enough space around the target fruit to accommodate fingers.

In addition, the tomato stalk cannot be positioned accurately, and the separation method of cutting the stalk is not suitable for tomato picking

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