The invention discloses a camellia oleifera fruit picking device which is not limited by terrains, can be remotely controlled and is convenient to transfer, a fruit collecting part is arranged below a machine body (3) of the device, and the machine body (3) comprises a controller, a picking mechanism, a controller connecting unit, a positioning unit and the like; the picking mechanism comprises a transmission part, a telescopic picking arm (4) and a picking hand (9); the front end of the telescopic picking arm (4) is provided with a rotating shaft (18) connected with a picking hand (9); picking fingers (15) are hinged to a rotating seat (16) of the picking hand (9); arc surfaces are arranged in the picking fingers (15), and are opened upwards during picking; the method comprises the steps of image reference establishment, path planning and the like. The device is light and small in weight and high in load capacity; positioning is accurate, and multi-layer picking is achieved; clamping force is controlled accurately, damage is avoided, and seed leakage caused by extrusion is prevented; fruit trees can be approached conveniently; automatically returning to unload; and remote control scheduling, unmanned picking and transportation and cluster machine operation improve the picking efficiency.
本发明公开了一种不受地形限制、可远程控制、转运便捷的一种油茶果采摘装置及采摘方法和应用,其装置在机身(3)下方设果实收集部,机身(3)包括控制器、采摘机构,控制器连接、定位单元等;采摘机构包括传动部、伸缩采摘臂(4)、采摘手(9);伸缩采摘臂(4)前端设旋转轴(18)连接采摘手(9);采摘手(9)的旋转座(16)上铰接有采摘手指(15);采摘手指(15)内设弧面,采摘时为张开朝上;方法包括建立图像基准、路径规划等;本发明质轻小巧、载重量高;定位精准,多层面采摘;把控力度精准夹持,避免损伤,防止挤压漏籽;便于接近果树;自动返航卸重;远程控制调度,无人化采摘、运输,“群机”作业提高采摘效率。
Camellia oleifera fruit picking device and picking method and application
一种油茶果采摘装置及采摘方法和应用
2024-07-26
Patent
Electronic Resource
Chinese
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