Structural design of cucumber picking manipulator

In agricultural production, the harvest of fruit and vegetable is the most time-consuming and laborious link, which is basically completed manually. By the shortage of the fruit and vegetable picking manipulators both at home and abroad. According to the basic process and work requirements of cucumber collection, a cucumber picking manipulator with four degrees of freedom is proposed. the hardware part of the mechanical arm is composed of a base, large and small arms and end-effectors, which can realize the movement of rotation, grasping and placement. As a stable part of the picking machine, the base is rigidly connected with the structural support frame, which mainly plays the role of providing power for the mechanical picking arm and supporting the mechanical rotation. Each joint is controlled by a motor and steering gear, which has the advantages of flexible action, stable operation and good effect. It will not only play an important role in agricultural development, but also be the inevitable trend of agricultural development in the future.