Encircling swallowing type navel orange picking actuator

Abstract

The invention relates to an encircling swallowing type navel orange picking actuator, and belongs to the technical field of agricultural picking robots. The whole design concept is based on the bionics principle, motors are adopted for driving, picking and collecting are integrated through the force transmission between a plurality of pairs of bevel gears, and the underactuation of peduncle cutting, fixing and collecting driving is realized; the whole structure is symmetrically arranged, an encircling mode is adopted for fixing and limiting navel oranges to be picked, a swallowing mode is adopted for colleting picked navel oranges, a collecting net formed by the reasonable combination of elastic ropes and non-elastic ropes is used for ensuring that the whole actuator has only one continuous collecting channel in the picking process, and it is ensured that navel oranges can be continuously picked and collected. The actuator is novel in collecting mode, high in picking efficiency, simplein structure, convenient to control and high in expansibility and universality and causes less damage to navel oranges; multiple identical collecting units of the actuator can be connected together in series without increasing drives, and the requirement for a larger picking capacity is met.

Description

technical field [0001] The invention relates to the technical field of agricultural picking robots, in particular to an encircling and swallowing navel orange picking actuator. Background technique [0002] Fruits are rich in nutrients, and the picking method has a great impact on the quality of the fruit. At present, most fruits are picked manually, which is time-consuming, laborious, and costly. Therefore, it is very useful to use agricultural picking robots instead of humans to complete the same job. necessary. The agricultural operation environment is complex and changeable. The end effector is the main body to complete the operation task, which directly affects the quality of the operation. After the position of the picking object is determined, the mechanical arm changes the pose to make the picking actuator realize the picking. The structure of the actuator Plays an important role in ensuring the quality of picking. China Agricultural University Yuan Ting, Gong Yue ...

AI Technical Summary

Problems solved by technology

[0003] There are some deficiencies in the above-mentioned harvesting actuators: the clamping, cutting and collecting actions of the actuator are separated or only one of them can be realized, there is a large interval between each action, and the efficiency is relatively low. The handle is picked and picked, and the picked fruit falls directly by gravity, which is easy to affect its quality. Therefore, in view of these problems, a navel orange picking actuator with a swallowing movement is designed. The actuator is set from the lower part of the navel orange to the upper part. , using the embracing method to realize the holding of the navel oranges to be picked, and the method of swallowing to realize the collection of the picked navel oranges, which improves the picking efficiency, reduces the damage to the navel oranges, and can also collect other fruits. drive, which reduces the difficulty, the overall structure is simple, and the cost is low

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