Mechanical arm and end effector of fruit picking robot and fruit picking method

Abstract

The invention discloses a mechanical arm and end effector of a fruit picking robot. The mechanical arm and end effector comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a primary mechanical arm, at least one secondary mechanical arm and the end effector; the primary mechanical arm comprises a primary arm Z axis, a primary arm r axis, a primary arm theta axis, a base, an end frame and a support; the secondary mechanical arm comprises a secondary arm Z axis, a secondary arm r shaft, a secondary arm theta axis and a secondary arm flange; the end effector comprises a fruit receiver, a basic part flange, a fruit tucking device, a blade, a fruit collecting barrel, a rotary bottom cover, a transmission wheel, a transmission belt, a driving gear, a driven gear, a stand, a cross bar, a fruit tucking device shaft, a blade shaft and a rotary bottom cover shaft; the control system comprises an industrial personal computer, a binocular camera, a switching-over card, a primary mechanical arm control system, a transverter, a secondary mechanical arm control system and an end effector control system. The invention also discloses the mechanical arm and end effector of a fruit picking robot and a fruit picking method.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a mechanical arm and an end effector of a fruit picking robot and a fruit picking method. Background technique [0002] With the aging of the social population and the gradual reduction of the agricultural labor force, some heavy and monotonous agricultural production increasingly needs to be replaced by mechanized, automated, and intelligent machines. The development of computer technology, sensor technology, electronic communication technology, and automatic control technology has provided unprecedented possibilities for the development of agricultural robot technology. Therefore, agricultural robot technology has achieved great development in many countries. Picking is the most time-consuming and labor-intensive link in fruit production, and its cost accounts for about 50% to 70% of the cost. The mechanical arm and end effector of the fruit picking robot are importa...

AI Technical Summary

Problems solved by technology

At present, the main factors affecting the practical use of the robot arm, end effector and end effector of the fruit picking robot are (1) the structure, operation method, control system and driving mode of the robot and its end effector are complex, and the picking speed is slow

(2) Picking accuracy needs to be improved

The main reasons that affect the accuracy of picking are: the visual positioning of the target fruit of the robot and the position positioning error of the mechanical arm are relatively large; the end effector cannot successfully obtain the fruit or the fruit is lost after being obtained; factors such as natural wind during the picking process cause the fruit to shake and make the fruit positioning Inaccurate etc.

(3) The variety of fruits picked by the end effector is single, the versatility is not good, and the manufacturing and operating costs are high

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