Terminal executor of strobile picking robot and its control method

Abstract

The present invention relates to picking robot technology, and is especially one kind of terminal executor of sphere fruit picking robot and its control method. The terminal executor has two motors for the opening and closing of fingers and the moving of the chuck separately, laser focusing lens fixed to the casing of the executor to guide the fruit stem to pass through the slot set in the center of fingers, and laser to cut off fruit stem through cooperation with the laser focusing lens. The terminal executor is controlled with one open-type control system based on laptop and multiple shaft motion controlling card communicating in USB mode to control the motors, the vacuum system and the laser system. The present invention has novel structure, flexible control and easy expanding, and may be used in picking tomato, apple, orange and other sphere fruits.

Description

technical field [0001] The invention relates to the field of picking robots, in particular to an end effector of a spherical fruit picking robot and a control method thereof. Background technique [0002] Generally, the mechanized harvesting of spherical fruits such as apples, citrus, and tomatoes uses vibration to make the fruits on the plants fall, or even pull out a large area, which cannot target the specific ripeness and size differences of the fruits, resulting in great damage to the quality of the fruits. In the automatic picking by picking robot, the fruit picking task must be performed by the end effector connected with the mechanical wrist of the robot. Some researches have been carried out in this field abroad, such as N.Kondo in Japan, etc. in "End-Effectors for Tomato Harvesting Robot" (Artificial Intelligence Review 12: 11-25, 1998.) introduces the tomato picking robot end effector, which can grasp the tomato and twist off the fruit stem, but the gripping force...

AI Technical Summary

Problems solved by technology

[0002] Generally, the mechanized picking of spherical fruits such as apples, citrus, and tomatoes uses vibration to make the fruits on the plants fall, or even pull out a large area, which cannot target the differences in the specific maturity and size of the fruits, resulting in great damage to the quality of the fruits.

In the automatic picking by picking robot, the fruit picking task must be performed by the end effector connected with the mechanical wrist of the robot. Some researches have been carried out in this field abroad, such as N.Kondo in Japan, etc. in "End-Effectors for Tomato Harvesting Robot" (Artificial Intelligence Review 12: 11-25, 1998.) introduces the tomato picking robot end effector, which can grasp the tomato and twist off the fruit stem, but the gripping force of the fingers on the fruit is relatively weak when the fruit stem is twisted off. Large, often causing damage or even rupture of the fruit, and it can only be used for tomato picking

Japan D.M.Bulanon et al. introduced the apple picking robot end effector in "DETERMINING THE 3-D LOCATION OF THE APPLE FRUIT DURING HARVEST." (Proceedings of the ASAE 7-8 October 2004 Conference: 91-97.), using two Refers to grasping and twisting off the stem of the apple, but without feedback control, it cannot adapt to the change of the connection force between different fruits and the stem, and can only be applied to picking apples in a specific growth period

[0003] Due to the obvious differences in the shape, size, and physical characteristics of different fruits, the end effectors of the picking robots mentioned above are all designed for picking specific fruits. The mechanical body structure has obvious special features, and the control system uses a specific controller. Very dedicated and closed, it is difficult to generalize and expand

The variety of fruit and vegetable planting is rich, and the seasonality of harvesting is strong, resulting in low utilization efficiency of the end effector of each special picking robot, and the corresponding end effector must be designed and replaced to harvest different fruits and vegetables, which has caused great harm to producers. cost burden

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