A kind of manipulator terminal device and its picking method for stringing tomatoes

Abstract

The present invention provides a kind of manipulator terminal device and picking method thereof for tomato bunch harvesting, said device comprises a clamping-shearing mechanism and a driving mechanism, and said clamping-shearing mechanism is installed above the driving mechanism; the clamping-shearing mechanism comprises A clamping part and a shearing part, the clamping part is installed on the upper surface of the shearing part; the shearing part includes a support rod, a first blade, a second blade, a connecting rod, and a push rod; one end of the support rod is connected to the drive mechanism On the frame, the first blade and the second blade are installed on the other end of the support rod; the push rod is installed in the middle of the support rod; the connecting rod includes a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod One ends of the two connecting rods are respectively connected with the first blade and the second blade, and the other ends of the first connecting rod and the second connecting rod are in contact with and connected with the push rod. The invention is suitable for string harvesting and picking of tomatoes, has small and exquisite structure, reliable action and simple control, and greatly improves the efficiency and lossless rate of string harvesting and picking of tomatoes.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a manipulator terminal device for stringing tomatoes and a picking method thereof. Background technique [0002] With the expansion of cities and the rapid increase of urban population, the market demand for fresh tomatoes is increasing day by day, and the scale of greenhouse tomato cultivation will be further expanded. Picking is the most time-consuming and labor-intensive link in the tomato production chain. Picking and harvesting account for about 40% of the entire production. But at present, the picking of greenhouse tomatoes in our country is mainly done by hand, which is labor-intensive and low-efficiency. [0003] The research and application of picking robots can greatly improve labor productivity and product quality, and ensure timely harvesting of tomatoes. The existing end mechanism of the fruit picking robot that can realize the integration of clippin...

AI Technical Summary

Problems solved by technology

In the end mechanism of the fruit picking robot with separate clamping and shearing power, the power for clamping fruit stems and cutting fruit stems is separated, the action is reliable, and the fruit posture is stable, but the overall structure and control are complicated, the volume is large and heavy, and the interference to the surrounding area is large. Patents CN201720691317.3, CN201810145271.4; the same power is used in the end device of the fruit picking robot hand with integrated clipping and shearing power, the overall structure is simple, the structure is small and novel, but currently few adopt this method, patent CN201220677055 .2 and CN201610844364.7 also adopt this method, but the overall size is too large, especially the structure of the power part is complex, the scissors have poor capture performance on the fruit stem, and the fruit stem may escape outwards, and the fruit stem is clamped and cut. High requirements for positioning

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