Tangerine lossless picking end effector

Abstract

The invention provides a citrus lossless picking end effector. The citrus lossless picking end effector comprises a mechanical arm connecting device, a picking device and a buffer collecting device. Wherein the mechanical arm connecting device is used for connecting a mechanical arm and fixing the picking device, the picking device comprises a protective shell, a shearing layer device and a clamping layer device, and the buffer collecting device is fixed to the lower portion of the shell. The shearing layer device is fixed to a lead screw nut, the distance between the shearing layer device and the clamping layer device can be adjusted, single-fruit picking can be achieved for citrus fruit clusters, fruit stems with the same length can be kept when citrus fruits of different sizes are picked, the clamping layer device is fixed to the lower portion of a protection shell, and the shearing layer device and the clamping layer device are of the same linkage structure. A slider-crank mechanism is adopted to drive a slider to move, so that citrus clamping and stem shearing are realized, and the buffer collecting device comprises a buffer rubber ring and a collecting pipeline. The citrus picking device is simple in structure, citrus bunching picking can be achieved, citrus collection is facilitated, citrus damage is reduced, and working efficiency is improved.

Description

technical field [0001] The invention is an end effector for citrus nondestructive picking, which relates to the field of fruit picking. Background technique [0002] Citrus is planted in a large area in the mountains and forests in southern my country, but at present, citrus is mainly picked manually, and there are problems such as low picking efficiency. The design of the picking end effector plays a vital role in fruit picking, and a simple and reliable fruit picking end effector is the first choice for current agricultural machinery picking devices. However, the current general-purpose picking end effectors generally have defects such as high cost and easy damage to the fruit skin. Therefore, how to ensure low-cost and effective fruit picking without damaging the skin of the fruit is a difficulty in the design of picking end effectors. [0003] In practice, there are often cases where multiple citrus fruits are connected in clusters. The general-purpose picking end effe...

AI Technical Summary

Problems solved by technology

[0003] In practice, there are often situations where multiple citrus fruits are connected in clusters. The general-purpose picking end effector cannot accurately grasp the fruits in the above situation, and the gripper can easily touch and damage the skin of other fruits.

Existing invention mostly adopts the clamping method of closing left and right to carry out the plucking of citrus now, and when this plucking mode picks citrus fruit cluster in practice, it is bigger to adjacent fruit damage, and after citrus picking, fruit stem is too long, and citrus When the fruit is piled up in the collection box or the peel is easily damaged during transportation, the citrus is damaged and the storage time of the citrus is shortened

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