End effector of intelligent harvesting robot

An end effector and robot technology, which is applied in the field of harvesting robots, can solve the problems of poor versatility, poor operation effect, and low degree of intelligence, so as to improve the grasping stability, improve the separation method of fruit stems, and improve the general sexual effect

Inactive Publication Date: 2012-07-11
HENAN POLYTECHNIC UNIV
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  • Abstract
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  • Claims
  • Application Information

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

Method used

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  • End effector of intelligent harvesting robot
  • End effector of intelligent harvesting robot
  • End effector of intelligent harvesting robot

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Experimental program
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Embodiment Construction

[0010] Intelligent harvesting robot end effector (such as figure 1 ) consists of mechanical system, control system, perception system and power supply system. Wherein the mechanical system is composed of a finger grasping mechanism (4), a stem separation mechanism (5) and a housing support mechanism, and the housing support mechanism includes a housing (1), an upper support body (9) and a lower support body (8) ; The control system is composed of a motion controller (12), a driver (13) and a micro DC servo motor (4-12, 5-12); the power supply system is composed of a lithium battery pack (10) and a voltage stabilizing and transforming module (11) Composition; Perception system is made up of force-sensitive sensor (4-8, 4-14, 4-21 and 4-24), camera (2) and distance sensor (3).

[0011] Finger gripping mechanism (4) such as figure 2 As shown, including support rods (4-1), transmission plates (4-2 and 4-15), connecting plates (4-3 and 4-18), rotating shafts (4-4, 4-5, 4-6 , 4-...

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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...

Claims

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Application Information

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IPC IPC(8): A01D46/30
Inventor 李智国李萍萍赵波杨红玲刘继展杨志波
Owner HENAN POLYTECHNIC UNIV
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