End effector of intelligent harvesting robot

Abstract

An end effector of an intelligent harvesting robot is composed of a mechanical system, a control system, a sensing system and a power supply system, wherein the mechanical system is mainly composed of a finger grabbing mechanism and a stem separating mechanism. The finger grabbing mechanism adopts a four-finger structure capable of automatically adjusting inclination angles of fingers and carrying out centering grasp of fruits, and the stem separating mechanism adopts a scissors type structure capable of automatically positioning stems and adjusting opening and closing angles of blades. The sensing system is composed of a force sensor, a camera and a proximity sensor, the force sensor monitors whether the finger grasping force is overloaded in real time, the camera senses maturity and space gestures of the fruits and monitors whether relative sliding displacement occurs between the fruits and the fingers in real time, and the proximity sensor detects the space positions of the fruits. The mechanical system, the control system, the sensing system and the power supply system of the end effector are matched with each other, and intelligent harvesting of the fruits is finished. The end effector of the intelligent harvesting robot can achieve intelligent harvesting of various fruits and guarantees quality of the fruits.

Description

technical field [0001] The invention relates to the field of harvesting robots, in particular to an end effector of an intelligent harvesting robot. Background technique [0002] When the harvesting robot is working, its end effector directly interacts with the fruits and vegetables. Due to the non-structural nature of the robot's working environment, the variety of fruits and vegetables, the irregular shape, the difference in texture, and the connection between the fruit and the plant, the end effector of the harvesting robot must be able to fully perceive the working environment and be flexible. Grab work objects of different sizes and shapes, accurately locate and separate fruit stems, and effectively prevent excessive or too small grasping force of fingers. At present, the common harvesting robot end effectors at home and abroad such as: strawberry picking robot end effector (Korea, KR100784830 (B1)), cucumber picking robot end effector (Japan, JP8056459 (A)), tomato ha...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing harvesting robot end effectors, such as poor versatility, poor operation effect and low intelligence, the present invention provides an intelligent harvesting robot end effector, by improving its finger grasping mechanism and fruit The mechanical structure of the stem separation mechanism, the camera, distance sensor and force-sensitive sensor configured to sense the maturity of the fruit, the spatial position and the real-time monitoring of the force and sliding of the fruit, improve the versatility, operation effect and Intelligent level, and then realize the intelligent harvesting of fruits

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