Kiwi picking end effector

An end-effector, kiwifruit technology, applied in the direction of picking machines, agricultural machinery and implements, applications, etc., can solve the problems of complex cost and operation, time-consuming and labor-intensive, affecting practicality, etc., and achieves simple structure, low control difficulty, and reduced trouble. Effect

Inactive Publication Date: 2012-05-02
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the picking of kiwifruit is still done manually, which is time-consuming and laborious. Therefore, the research and development of kiwifruit picking robots to realize the mechanization, automation and intelligence of kiwifruit picking will improve the picking rate, solve the la

Method used

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Embodiment Construction

[0014] The technical scheme of the present invention is described in more detail below in conjunction with accompanying drawing:

[0015] like figure 1 , figure 2 As shown, a kiwi fruit picking end effector includes a mechanical device and a sensing system, and is characterized in that the mechanical device is composed of a clamping combination, an approaching combination and an arm end rotating combination, and the clamping combination includes left and right rotating wires Bar 7, nut 8, finger 4, strut 11, linear bearing 12 and inner shell 9, said finger 4 is set on the nut 8, and said nut 8 is connected with the left-handed thread and right-handed thread of the left-handed screw 7, One end of the left and right screw screw 7 is connected with a side of the inner shell 9 with a bearing, and the other end is connected with the power output shaft of the motor 13. The linear bearing 12 is fixed on the back of the finger 4, and the strut 11 passes through The linear bearing 1...

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Abstract

The invention discloses a kiwi picking end effector. The end effector is mainly composed of two parts, namely a mechanical device and a sensing system, wherein the mechanical device comprises a clamping assembly, an approaching assembly and an arm tail end rotating assembly and is used to realize the opening and closing, advance and retreat, and overturn of fingers; and the sensing system consists of an infrared position switch, a pressure sensor, a Hall position sensor and an impact sensor and provides control information for a controller in the moving process of the end effector. The end effector adopting the design simulates the aritificial kiwi picking manner, and has simple and reliable structure, high intellectualization, low control difficulty and low cost.

Description

technical field [0001] The invention relates to the technical field of picking robots, in particular to a kiwi fruit picking end effector. Background technique [0002] The end effector is generally installed at the front end of the robotic arm, and is an important working part for the robot to directly contact the fruit of the object. The size and shape of the work object of the picking robot are generally not exactly the same, and the work object is soft and easy to damage. Therefore, the design of the end effector especially important. Kiwi fruit is one of the three emerging fruits in the world today. Because it is rich in vitamin C, it is known as the "king of fruits". In recent years, the development speed of kiwi fruit has been accelerating. At present, the picking of kiwifruit is still done manually, which is time-consuming and laborious. Therefore, the research and development of kiwifruit picking robots to realize the mechanization, automation and intelligence of k...

Claims

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Application Information

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IPC IPC(8): A01D46/30
Inventor 陈军王虎高浩蒋浩然雷王利韩冰武涛袁池
Owner NORTHWEST A & F UNIV
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