Spherical fruit and vegetable picking end effector

Abstract

The invention provides a spherical fruit and vegetable picking end effector, and belongs to the technical field of picking robots. The spherical fruit and vegetable picking end effector is composed of a rack, a driving transmission mechanism, a guide sleeve mechanism, a cutoff mechanism and a grabbing mechanism. The rack is composed of an upper machine base, a lower machine base and a machine base lateral plate. The driving transmission mechanism is composed of a motor, a coupler, a transmission shaft, an upper sleeve, a lower sleeve, a winch and a rope, and transmission of the motor is converted into transverse motion of the rope. The guide sleeve mechanism is composed of a guide sleeve and a spring, the spring provides pre-applied force, and the guide sleeve is used for transversely-moving guiding when the spring bears pull force of the rope. The cutoff mechanism is of a similar-scissor structure. The grabbing mechanism is composed of a paw installation plate, a paw pull rod, a paw connecting rod and an arc-shaped finger. According to the spherical fruit and vegetable picking end effector, one motor is adopted, the rope transmission mode is adopted, and the two tasks including fruit and vegetable grabbing and fruit stem cutoff in spherical fruit and vegetable picking operation can be achieved.

Description

technical field [0001] The invention relates to the technical field of picking robots, in particular to a spherical fruit and vegetable picking end effector. Background technique [0002] Fruit and vegetable picking is the most time-consuming and labor-intensive link in fruit and vegetable production. Therefore, the use of picking robots to replace traditional human picking is conducive to improving picking efficiency and reducing labor intensity and costs. The end effector is installed on the front end of the robotic arm and is an important part of the fruit and vegetable picking robot to achieve fruit and vegetable picking. At present, when the end effector of picking robots at home and abroad picks fruits and vegetables, there are usually two ways: one is that after the end effector grasps the fruits and vegetables, it uses the method of pulling and twisting the fruit handle, which is easy to damage the fruits and vegetables; One is that after the end effector grabs the ...

AI Technical Summary

Problems solved by technology

At present, when the end effector of the picking robot at home and abroad picks fruits and vegetables, there are usually two ways: one is that after the end effector grabs the fruits and vegetables, it uses the method of pulling and twisting the fruit handle, which is easy to damage the fruits and vegetables; One is that after the end effector grabs the fruit and vegetable, the sensor detects the position of the fruit handle and then cuts the fruit handle with auxiliary tools such as lasers and blades. This method requires an additional laser device or a power device that drives the blade

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