End effector of novel harvesting robot and flexibility control method thereof

Abstract

An end effector of a novel harvesting robot and a flexibility control method thereof relate to the field of harvesting robots. The end effector only utilizes a servo motor to respectively drag a finger grabbing mechanism and a stem separating mechanism according to operation sequences so as to finish tasks of fruit grabbing and stem separation. Two pressure sensors on the inner sides of fingers are arranged in a vertically parallel mode, the pressure sensor above the finger surface monitors grabbing force of the fingers to a fruit in real time, and the pressure sensor below the finger surface detects a sliding state of the fruit on the finger surface in real time. A spongy cushion with a certain thickness is adhered to the inner sides of the fingers so as to avoid high-speed collision between the fingers and the fruit during rapid grabbing. The stem separating mechanism adopts a unique V-shaped scissors blade structure, a stem is cut off by high-speed collision between a knife edge and the stem, and whether the stem is cut off is judged according to the changing law of the rotating speed of the servo motor reflected by an encoder during stem separation. The end effector is simple in structure, reasonable in design, novel, unique and capable of achieving flexible harvesting of the fruits.

Description

technical field [0001] The invention relates to the field of harvesting robots, in particular to a novel harvesting robot end effector and a flexible control method. Background technique [0002] At present, the harvesting of crops such as wheat, corn, and rice has basically been mechanized, which greatly reduces the labor intensity of human beings. Its shelf life is significantly shortened. The end effector of a harvesting robot is a part that is in direct contact with fruits and vegetables, so how to improve the mechanical structure and control method of the end effector to effectively prevent and reduce the mechanical damage of fruits and vegetables has become a research hotspot at home and abroad in recent years. At present, common harvesting robot end effectors at home and abroad such as: fruit picking robot end effector (China, CN101669423B), fruit and vegetable picking robot end effector (China, CN101238775B and CN100512621, South Korea, KR20020078311 (A)), apple pic...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the defects of poor operation effect of the existing harvesting robot end effector and low degree of integration, automation and intelligence, the present invention provides a new type of harvesting robot end effector and its flexible control method. By selecting a miniature electromagnetic clutch and brake automation control components, improve the transmission structure of the finger grasping mechanism and the blade structure of the fruit stem separation mechanism, use encoder feedback to detect the effect of fruit stem separation and change the arrangement of pressure sensors inside the finger and sticking materials on the finger surface to improve harvesting The level of integration, automation and intelligence of robot end effectors enables the flexible harvesting of fruits

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