Quasi-circular fruit and vegetable picking end executor, method and robot

An end-effector, fruit and vegetable technology, applied in the directions of picking machines, harvesters, agricultural machinery and implements, etc., can solve problems such as not being practically applied, and achieve the effects of simple structure, convenient use, and damage avoidance.

Active Publication Date: 2014-02-05
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the research on picking robots is mostly in the theoretical simulation stage or laboratory test stage, and has not been applied in practice. This has become a bottleneck problem restricting the application of picking robots, and this also affects the mechanical automation technology of picking robots and its end effector. Research calls for greater

Method used

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  • Quasi-circular fruit and vegetable picking end executor, method and robot
  • Quasi-circular fruit and vegetable picking end executor, method and robot
  • Quasi-circular fruit and vegetable picking end executor, method and robot

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Effect test

Embodiment 1

[0036] Such as Figure 1-Figure 3 As shown, the round fruit and vegetable picking end effector of this embodiment includes a box body 1, a clamping mechanism and a shearing mechanism. The bottom plate in the box body 1 is equipped with an electromagnet 2, and the top plate is equipped with a motor 3. One side of the box body 1 is provided with an opening 4, and the wires of the electromagnet 2 and the motor 3 pass through the opening 4 on one side of the box body 1 and are connected to an external power supply; the clamping mechanism includes an elastic movement assembly, a fixed block 5. The left claw mechanical finger 6, the right claw mechanical finger 7, and the sliding constraining disc 8, the elastic movement assembly includes a main shaft 9, a parallel shaft 10 and a coupling 11, and the main shaft 9 is provided with a return spring, and the One end of the main shaft 9 passes through the center of the electromagnet 2, and the other end is connected to one end of the par...

Embodiment 2

[0054] Such as Figure 5 As shown, the round-like fruit and vegetable picking robot of this embodiment includes a robot body structure 18 and a binocular camera mechanism 19 fixed on the robot body structure 18. Device, now the circular fruits and vegetables 16 on the test platform 20 are grasped and cut experiments.

[0055] The working principle of the round fruit and vegetable picking robot of this embodiment during the experiment is as follows:

[0056] In order to realize accurate grasping and picking of different types of round fruits 16, the round fruits and vegetables 16 are placed on the test platform 20, and then the binocular camera mechanism 19 is used to collect the images of the fruits and vegetables 16 on the test platform 20. Positioning determines the spatial coordinates of the center of mass of the target fruit and vegetable 16, and feeds back to the robot body structure 18. The robot body structure 18 moves to the positioned position through the manipulator...

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Abstract

The invention discloses a quasi-circular fruit and vegetable picking end executor, method and robot. The end executor comprises a box, a clamping mechanism and a cutting mechanism. An electromagnet and a motor are arranged in the box. The clamping mechanism comprises an elastic moving component, a fixing block, left claw mechanical fingers, right claw mechanical fingers and a sliding restraining disc for controlling the open angel of the left claw mechanical fingers and the right claw mechanical fingers. The left claw mechanical fingers and the right claw mechanical fingers penetrate the sliding restraining disc and are connected with the fixing block through pins respectively, and gaps for enabling the left claw mechanical fingers and the right claw mechanical fingers to move are formed in two sides of the fixing block respectively. One end of the elastic moving component penetrates the center of the electromagnet, and the other end penetrates the fixing block to be fixedly connected with the sliding restraining disc. The motor is connected with the cutting mechanism. The end executor is simple in structure, convenient to use and provided with certain fruit and vegetable picking universality and represents the light weight purpose of mechanical development.

Description

technical field [0001] The invention relates to an end effector for picking fruits and vegetables, in particular to an end effector, a method and a robot for picking round fruits and vegetables, belonging to the field of picking fruits and vegetables. Background technique [0002] In recent years, agricultural machinery automation technology has developed rapidly, and the driving force for development is to improve the efficiency of original agricultural operations, reduce the labor intensity of agricultural production and reduce the cost of agricultural product production. The fruit and vegetable harvesting robot is one of the main means of developing modern agricultural production, and the end effector of the picking robot directly acts on the work object, so the end effector of the picking robot must be able to directly and effectively realize the picking function of fruits and vegetables. However, compared with the rapid development of the current fruit planting industry...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30A01D46/24
Inventor 熊俊涛孙宝霞邹湘军林桂潮王广记钟伟奇陈景兴黎垣昌
Owner SOUTH CHINA AGRI UNIV
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