Terminal executor of fruit and vegetable picking robot

An end-effector and picking robot technology, which is applied in picking machines, manipulators, harvesters, etc., can solve problems such as inability to be intelligent, achieve intelligent picking, meet actual conditions, and ensure the effect of fruit quality

Inactive Publication Date: 2007-08-22
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiency that the existing picking methods and devices cannot be intelligentized, the present invention provides an end effector of a fruit and vegetable picking robot. information

Method used

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  • Terminal executor of fruit and vegetable picking robot
  • Terminal executor of fruit and vegetable picking robot

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Embodiment Construction

[0010] The end effector of the present invention is composed of an execution device, a perception system and a power supply system. The executive device includes a vacuum suction cup mechanism, a finger clamping mechanism and a laser cutting mechanism, which respectively complete the actions of fruit adsorption pulling, clamping and cutting. Wherein the vacuum sucker mechanism includes a small air source (21), a vacuum generator (18), a vacuum tube (18), a vacuum corrugated sucker (2), a DC servo motor (12), a gear (13) and a rack (6), the vacuum The generator (18) is connected to the small air source (21) and the vacuum corrugated suction cup (2) respectively through the hose and the vacuum tube (18), the vacuum corrugated suction cup (2) is fixed on the rack (6), and the DC servo motor (12 ) is fixed with the end effector frame, and the gear (13) is installed on the extension shaft of the DC servo motor (12). The vacuum generator (18) is provided with compressed air by a sm...

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Abstract

The terminal executor of fruit and vegetable picking robot consists of an executing device, a sensing system and a power system. The executing device consists of a vacuum chuck mechanism, a holding finger mechanism and a cutting laser mechanism; the sensing system consists of a servo motor coder, a near distance sensor, a long distance approach sensor, a finger force sensor, a wrist force sensor and a pressure sensor installed in different parts of the executing device; and the power system powers the devices and elements in the terminal executor with high energy lithium battery and through voltage conversion. By means of the information sensing of the sensors, the present invention can adsorb, grab and separate to realize the intelligent picking of fruits in high quality.

Description

technical field [0001] The invention relates to the field of picking robots, in particular to an end effector of a fruit and vegetable picking robot. Background technique [0002] The traditional manual picking of fruits and vegetables is complicated and labor-intensive. Using picking robots to realize intelligent picking of fruits and vegetables has become the development direction of intelligent agriculture. The end effector is a key part of the fruit and vegetable picking robot that directly contacts the fruit and performs the picking task. Due to the complexity, variability, irregularity and tenderness of fruits and vegetables and their environment, the end effector of the picking robot must fully perceive the operation object and environmental information, and perform reasonable actions based on the perceived information, so as to realize the intelligent picking of fruits and vegetables. The end effector of the tomato harvesting robot developed by Okayama University in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/24A01D46/30B25J9/00B25J9/08B25J9/10B25J13/00B25J15/08
Inventor 刘继展李萍萍李智国王新忠向忠平
Owner JIANGSU UNIV
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