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cherry picking robot end effector

A technology of end effectors and robots, which is applied in the direction of picking machines, agricultural machinery and tools, harvesters, etc., can solve the problems of cherry fruit damage, etc., and achieve the effect of improving fruit quality, labor productivity, and economic value

Inactive Publication Date: 2017-05-17
SHANDONG AGRICULTURAL UNIVERSITY
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  • Abstract
  • Description
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Problems solved by technology

Chinese utility model patent 201420298676.9 The end effector is a kind of cherry picking equipment. It is mainly operated by manpower. Through eye recognition, manual adjustment is used to cut branches with scissors. Although Chinese utility model patent 201420152423.0 uses a guide device, it still relies on the eyes. Identification is achieved by manual operation, and cutting with a blade will inevitably cause damage to the cherry fruit

Method used

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] See attached Figure 1-2 , the cherry picking actuator disclosed in the present invention includes a fruit collector 1, an air guide cylinder bracket 2, a clamping rubber 3, a clamping front rod 4, a slide rail 5, a mobile platform 6, a mounting bracket 7, and a crank connecting rod Mechanism 8, camera 9, camera bracket 10, clamping hand rear lever 11, ball screw seat 12, ball screw 13, rotation stepping motor 14, translation stepping motor 15, air guiding cylinder 16.

[0022] The cherry picking robot end effector disclosed by the present invention includes a cherry fruit positioning mechanism, a cherry pose recognition mechanism, a clamping and picking mechanism, and a fruit collection mechanism.

[0023] The cherry fruit positioning mechanism is an air-suction positioning mechanism, including an air guiding cylinder and an air pump, the air g...

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Abstract

A cherry picking robot end actuator comprises a cherry fruit positioning mechanism, a cherry pose recognition mechanism, a clamping and picking mechanism and a fruit collecting mechanism. The cherry picking robot end actuator conducts pose positioning on cherry fruits through machine vision, controls stepping motors to sequentially act so as to achieve intelligent cherry picking, achieves intelligent automatic picking to replace manual picking and improves the labor productivity, adopts blade-free cutting in the picking process, accordingly ensures the quality of cherry fruits and ensures that the cherry fruits are not stained or damged, the labor productivity and the quality of the fruits are improved, and further the economic value is improved.

Description

technical field [0001] The invention relates to the field of agricultural machinery automatic fruit and vegetable harvesting robots, in particular to a cherry picking robot end effector. Background technique [0002] At present, with the continuous updating of the field of agricultural machinery, fruit and vegetable picking work is gradually becoming fully mechanized. The growth posture of cherries is different, and the fruit of cherries is smaller and softer. Chinese utility model patent 201420298676.9 The end effector is a kind of cherry picking equipment. It is mainly operated by manpower. Through eye recognition, manual adjustment is used to cut branches with scissors. Although Chinese utility model patent 201420152423.0 uses a guide device, it still relies on the eyes. The identification is realized by manual operation, and the cutting by the blade will inevitably cause damage to the cherry fruit. Contents of the invention [0003] Aiming at the technical defects me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30
Inventor 田富洋曹东李法德蔡占河苏曰超刘卫民王明江董小宁赵新强
Owner SHANDONG AGRICULTURAL UNIVERSITY
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