Tail end executing mechanism and picking method for spherical fruit automatic picker

Abstract

The invention discloses a tail end executing mechanism and a picking method for a spherical fruit automatic picker. The tail end executing mechanism mainly comprises a pneumatic clamping mechanism, a sensor and a control switch, wherein the sensor is used for monitoring and controlling in real time; and a pressure sensor and a sponge and rubber elastic material are arranged in a bowl-shaped clamping finger of the pneumatic clamping mechanism. A piston shaft of a double-action micro cylinder drives a rotating shaft II through a push rod to linearly reciprocate along a vertical chute on the side surface of a bracket in the vertical direction, and then a pulling fork is driven to move and drives a slide block to linearly reciprocate in a horizontal chute in the top of the bracket, so that spherical fruits are grasped and released. Meanwhile, due to the retraction of a pneumatic slide table along the axial direction of a mechanical arm, the micro cylinder and the mechanism on the micro cylinder can linearly reciprocate as a whole along the direction of the mechanical arm, and then the spherical fruits are picked. By the tail end executing mechanism, the spherical fruits can be automatically grasped, and the operation efficiency of picking the spherical fruits can be improved. The tail end executing mechanism has relatively high popularization and application value.

Description

technical field [0001] The invention belongs to the technical field of mechanical automation, and in particular relates to an end effector and a picking method for an automatic spherical fruit picker. Background technique [0002] Since the first tomato picking robot came out in the United States in 1983, the research and development of picking robots has developed rapidly. France, the Netherlands and other countries have successively set up projects to study smart robots for picking apples, tomatoes, watermelons, grapes, etc. Japan has made rapid progress in the research of harvesting robots in recent years. At present, it has recently developed robots for picking fruits and vegetables such as tomatoes, cucumbers, grapes, and citrus, but the technology is not yet mature enough to be commercialized. my country's research on agricultural robots began in the mid-1990s, when Cao Qixin, Liu Chengliang and others at the Robotics Institute of Shanghai Jiao Tong University complete...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides an end effector for an automatic spherical fruit picker, aiming at solving the problem of unreasonable structural design, low fruit picking efficiency, time-consuming and labor-intensive use of the end effector of the spherical fruit automatic picker provided by the prior art, The problem of not obvious economic benefits

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