Fruit picking mechanical arm of agricultural robot

Abstract

The invention discloses a fruit picking mechanical arm of an agricultural robot. The fruit picking mechanical arm comprises a first rotating arm body and a second rotating arm body, a first rotating part is connected to the lower end of the first rotating arm body, a second rotating part is installed between the upper end of the first rotating arm body and the lower end of the second rotating arm body, and a third rotating part is arranged at the upper end of the second rotating arm body. A third rotating arm is fixedly supported at the output end of the third rotating part, a stem shearing mechanism is fixedly installed on the third rotating arm, and the stem shearing mechanism comprises a transmission mechanism, a shearing device and a fruit collecting device. According to the fruit picking mechanical arm of the agricultural robot, fruit stems can be completely cut off during cutting, and the integrity of the fruit is ensured; and meanwhile, the image survey range is expanded, more comprehensive fruit parameters are obtained, and the situation that the quality of the fruit is misjudged by a central control device due to the fact that a conventional camera device only collects information of a fruit orientation surface or a nightside is avoided.

Description

technical field [0001] The invention relates to the technical field of agricultural picking, in particular to a fruit picking mechanical arm of an agricultural robot. Background technique [0002] The traditional fruit harvesting method has great limitations, requiring high labor costs, and some fruit trees have high branches, requiring workers to cooperate with auxiliary picking tools, which not only reduces the efficiency of fruit harvesting, but also poses a greater safety hazard Therefore, large orchards gradually adopt automated and intelligent agricultural robots for fruit picking. [0003] Agricultural robots use the image information fed back by the camera for fruit positioning and preliminary selection. However, the position of the camera of the existing fruit picking robotic arm is fixed, and only one side of the fruit can be photographed without moving the robotic arm. However, the color difference between the sun-facing side and the back-side of some fruits is v...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the position of the camera of the fruit picking robot arm in the prior art is fixed, and the image information collected is not comprehensive enough, which may easily cause the central control equipment to misjudge the quality of the fruit, and the direct pulling of the fruit by the manipulator will affect the quality of the fruit. The disadvantages of fruit quality, while the proposed fruit picking manipulator of an agricultural robot

Images