The invention discloses an ornithopter picking robot. The ornithopter comprises an ornithopter body, a flexible clamping jaw mechanism arranged at the front end of the ornithopter body and used for picking, a shear shearing mechanism used for picking picked fruits and a visual identification device used for judging the ripening degree of the fruits. The flexible clamping jaw mechanism comprises a clamping jaw connecting rod, a plurality of oval flexible clamping jaws matched with the clamping jaw connecting rod, and a clamping jaw driving device used for controlling the flexible clamping jaws to act. The shear shearing mechanism comprises a pair of shear assemblies and a shear driving device used for controlling the shear assemblies to achieve opening and closing actions. The picking robot has the advantages that the picking efficiency is improved, the labor cost is reduced, and the picking robot is small and light in overall structure, easy to operate, good in endurance and high in practicability, has advantages especially for field operation with complex terrains and too high fruit positions, can greatly reduce the workload of fruit farmers, and has wide market prospects.

    本发明公开了一种扑翼飞行器采摘机器人。它包括扑翼飞行器本体、扑翼飞行器本体前端设置的用于进行采摘的柔性夹爪机构、用于摘取被摘果实的剪刀剪断机构以及用于判别果实成熟程度的视觉识别装置,柔性夹爪机构包括有夹爪连接杆、与夹爪连接杆配合安装的多块椭圆形的柔性夹爪以及用于控制柔性夹爪动作的夹爪驱动装置,剪刀剪断机构包括一对剪刀组件以及控制剪刀组件实现开合动作的剪刀驱动装置。优点是:提高了采摘效率,降低了劳动成本,且该采摘机器人整体结构小巧轻便,操作简单,续航性好,实用性强,特别是对地形复杂、果实位置过高的田地作业有优势,可以极大减轻了果农工作负担,具有广泛的市场前景。


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    Title :

    Ornithopter picking robot


    Additional title:

    扑翼飞行器采摘机器人


    Contributors:
    HU CHAO (author) / SHEN BAOGUO (author) / XIE ZHONGMIN (author) / LAI YONGYAN (author) / QUAN XUECONG (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01D Ernten , HARVESTING / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U



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