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Human-assisted end-effector for citrus picking

An end effector and human-assisted technology, which is applied to harvesting machines, agricultural machinery and implements, and other applications, can solve problems such as low grasping accuracy, easily damaged fruit surfaces, and large differences in fruit physical properties, and achieve improved grasping. Take the effect of accuracy

Pending Publication Date: 2019-02-15
NANCHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large difference in the physical characteristics of the fruit itself, the current general-purpose picking end effector has the disadvantages of easy damage to the fruit surface and low grasping accuracy.

Method used

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  • Human-assisted end-effector for citrus picking
  • Human-assisted end-effector for citrus picking
  • Human-assisted end-effector for citrus picking

Examples

Experimental program
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Embodiment Construction

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0019] like Figure 1-3 As shown, a citrus picking human body auxiliary end effector of the present invention includes a transmission mechanism 1, a cutting mechanism 2 and a grasping mechanism 3; the transmission mechanism 1 includes a first main shaft 11, a second main shaft 12, a pair of straight bevel gears 13. The third main shaft 14, the first staggered helical gear pair 15, the fourth main shaft 16, the second staggered helical gear pair 17 and the third staggered helical gear pair 18, one end of the first main shaft 11 is connected to the One end of the second main shaft 12 is connected, and the pair of spur bevel gears 13 includes a driving spur gear 131 and a driven spur gear 132, and the driving spur gear 13 and the driven spur gear 13 are connected to each other. ...

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Abstract

The invention relates to the field of fruit picking machines, in particular to a human-assisted end-effector for citrus picking. The end effector includes a transmission mechanism, a cutting mechanismand a grab mechanism; the transmission mechanism comprises a first spindle, a second spindle, a straight bevel gear pair, a third spindle, a fourth spindle and three pairs of staggered helical gear pairs, and the cutting mechanism comprises a circular saw blade. The circular saw blade is rotatably connected with a first output shaft connected with the tail end of the second helical gear pair anda second output shaft connected with the tail end of the third helical gear pair; the grab mechanism includes a large grabbing claw, a small grabbing claw and a clamping plate, and the clamping plateis fixedly connected with the large grabbing claw and the small grabbing claw through bolts; citrus fruit stalks are teased to the circular saw blade through three mechanical claws, a motor can serveas a power source, power is transmitted to the circular saw blade through a rotating shaft, a pair of straight bevel gears and the three pairs of staggered gears, and the citrus fruit stalks are cut through rotation of the circular saw blade.

Description

technical field [0001] The invention relates to the field of fruit picking machinery, in particular to a human-assisted end effector for citrus picking. Background technique [0002] Fruits of the citrus genus have a large yield per mu and require a lot of manpower to pick. The fruit picking end effector is a key component of agricultural picking. Because it directly picks and picks the fruit, it has a direct impact on the quality of the fruit picking. Influence. Due to the large difference in the physical characteristics of the fruit itself, the current general-purpose picking end effector has the disadvantages of easily damaging the fruit surface and low grasping accuracy. Contents of the invention [0003] In order to solve the above problems, the present invention provides a citrus picking human-assisted end effector. Comb the citrus fruit stalks to the circular saw blade with three mechanical claws. The motor can be used as the power source, and the power is transmi...

Claims

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Application Information

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IPC IPC(8): A01D46/24
CPCA01D46/24
Inventor 李小兵李东一盛天吕吴雨桐黎双
Owner NANCHANG UNIV
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