Kiwi fruit picking end actuator

Abstract

The invention discloses a kiwi fruit picking end actuator which comprises a clamping mechanism, a rotary picking mechanism, an approaching mechanism, a sensing system and a control system. The clamping mechanism comprises a scissor structure formed by front arc-face finger a rear arc-face finger and is capable of separating and reliable gripping of adjacent fruits. The rotary picking mechanism uses a reduction stepping motor to drive the clamping mechanism to rotate so as to separate stems and fruits. The approaching mechanism drives the front finger to approach the fruits. The sensing system comprises a pressure sensor, an infrared photoelectric switch, a Hall position sensor and a limit switch which are respectively used for detecting a clamping force threshold, fruit positions and mechanism reset information and controlling rotation angle of the reduction stepping motor, wherein the pressure sensor and the infrared photoelectric switch are mounted on the inner side of the front finger, the Hall position sensor and the limit switch are mounted on a frame. The control system comprises a single-chip microcomputer and a stepping motor controller and is used for controlling the whole system by the aid of the sensing system. By the actuator simple in mechanical structure, accurate positioning, separating and reliable gripping of the fruits are achieved, and lossless picking of the fruits is realized.

Description

technical field [0001] The invention relates to a fruit picking end effector, in particular to a kiwi fruit picking end effector, belonging to the field of picking robots. Background technique [0002] The fruit picking end effector is a key component of the picking robot, which directly acts on the fruit. Therefore, the quality of the end effector affects the harvesting quality of the fruit. There are many studies on fruit picking end effectors at home and abroad, but due to the differences in the nature of the fruit itself, the versatility is not strong. The picking period of kiwi fruit is short and the labor intensity is high. The standardized planting mode is conducive to the realization of automatic picking, but the characteristics of the adjacent growth of the fruit require the manipulator to have the function of separating the fruit. The "Fruit and Vegetable Picking Robot End Effector" disclosed in Chinese patent CN101019484A adopts suction cup adsorption to separat...

AI Technical Summary

Problems solved by technology

The "Fruit and Vegetable Picking Robot End Effector" announced by Chinese patent CN101019484A adopts suction cups to separate fruits. This structure makes the design and control of the end effector complex.

Chinese patent CN102187766A discloses "a kind of kiwi fruit picking end effector". Due to the limitation of its own volume, the end effector is limited in picking adjacent fruits.

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