End effector of a string-type fruit picking robot

Abstract

The invention discloses an end executor of a string type fruit picking robot. The end executor comprises a shell with an opening at one end, a shearing mechanism one end of which is fixedly arranged in the shell, a clamping mechanism one end of which is fixedly arranged in the shell and a lifting mechanism which is arranged at the lower part of the shell; wherein the clamping mechanism is used for clamping the fruit stems of the string type fruits, and when the pressure of clamping the fruit stems reaches the preset value capable of clamping the fruit strings, the lifting mechanism is triggered to support the string type fruits; the lifting mechanism judges whether to lift in place or not according to the angle change, and when the string type fruits are successfully lifted, the shearing mechanism is started to shear the stems of the string type fruits. The executor is simple in structure and high in practicability, the lifting mechanism, the clamping mechanism and the shearing mechanism cooperate with each other, so that the clamping, lifting and shearing operation of the fruit strings can be effectively completed, fruit strings are prevented from slipping off and falling down, and the picking quality is guaranteed.

Description

technical field [0001] The invention relates to the field of fruit picking robots, in particular to an end effector of a string-type fruit picking robot. Background technique [0002] my country is an important producer of string fruits such as grapes and lychees, but at present the harvest of these fresh fruits basically depends on manual picking, which is labor-intensive, and the picking cost accounts for about 50%-70% of the production cost. With the intensification of my country's aging population and the reduction of young and middle-aged labor force, low-loss and timely harvesting of fruits has become a difficult problem for fruit farmers. When the robot picks bunch-shaped fruits, it needs to first identify the fruit bunches from the complex orchard environment through vision and other sensors, and then pick according to the spatial information of the fruit. Because cluster fruits usually grow in clusters, with large volume and weight and small stems, how to complete ...

AI Technical Summary

Problems solved by technology

[0003] At present, there is less research and development on the end effector of string-type fruit picking robots at home and abroad, and the production cost is relatively high, and the adaptability to the environment is limited.

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