Development automated capture device for picking apples

In the system of the mechanized process of cultivation of fruit crops, harvesting is an important final stage, which requires the development of new, convenient, including those that do not damage the fruit, automated technical devices. As a result of a series of experiments, the operability of the developed automated fruit picking device was confirmed, it gently captures the fruit and reliably holds it. The operating modes of the automated device for picking fruits have been established. The following characteristics of the device for picking fruits were revealed: the time for a complete capture of the apple is from 1.5 seconds to 2 seconds, depending on their size, the maximum size of the captured apple is 85x80 mm, the maximum weight of the captured apple is 400 g. The permissible pressure of the paws of the device on the fruit is determined ... It was found that with the force of the linear stepper motor on the pusher in 8N, the safety of the apple is ensured with minimal damage, while the apple is securely fixed in the capture paws.