End effector of ball-like fruit picking robot

Abstract

The invention discloses an end effector of a ball-like fruit picking robot. The end effector comprises a rotating machine assembly, a telescopic cylinder assembly and an arc-shaped finger cutting assembly. The end effector has the following advantages: a rotating machine is utilized to drive four arc-shaped blades to cut the fruit stem in any position between the four arc-shaped blades in a rotating manner via a coupling shaft assembly, thus omitting detection of the position of the fruit stem; a single-rod double-action cylinder drives four arc-shaped fingers to unfold and fold by way of extension and retraction of a piston rod; the space formed when the four arc-shaped fingers are folded is larger than the three-dimensional space of the fruits; the fingers are not contacted with the fruits during picking, thus ensuring that the fingers can rotate relative to the fruits, providing conditions for the arc-shaped blades to cut the fruit stems in a rotating manner and dispensing with complex pressure control for clamping the fruits; and the end effector has a reliable picking mode, low action control difficulty, low cost and strong universality.

Description

technical field [0001] The invention belongs to the development field of an end effector of an agricultural fruit and vegetable picking robot, in particular to a spherical fruit picking robot end effector. Background technique [0002] The end effector is an important part of the agricultural fruit and vegetable picking robot. It is installed at the end of the robotic arm. When picking, the mechanical arm first moves the end effector to the corresponding picking point of the fruit, and then the end effector completes The task of picking fruit. The research and development of picking robots has gone through more than 30 years and has achieved many results. However, there is still a certain distance from practicality and commercialization. One of the main reasons is that the requirements for the development of the end effector are relatively high. The requirements include: 1) the end effector cannot damage the fruit during the picking process; 2) picking The efficiency and p...

AI Technical Summary

Problems solved by technology

The second is to use the suction cup to suck the fruit firmly and drag it between the clamping fingers, and then use scissors or other methods to break the fruit stem. This method needs to detect the position of the fruit stem and adjust it accurately The posture of the end effector increases the difficulty of system control and the complexity of the mechanism. Peter P.Ling et al. designed a 4-finger end effector (Ling, P.Sensing and end-effector for a robotic tomato ha --- rvester[R].ASer, No.043088.)

However, its endurance is not very ideal

The quality and fatigue resistance should be considered again to achieve a more ideal effect. In addition, due to the use of digital linear stepping motors, the cost is relatively high, which greatly affects the practicality and commercialization

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