Under-actuated fruit-vegetable picking end executor device and picking method

Abstract

The invention discloses an under-actuated fruit-vegetable picking end executor device and a picking method. The device is composed of a palm, a base, fingers, a support rod, a bottom plate, a first stepping motor, a shaft coupler, a lead screw nut, a lifting platform, a drive rod, a side mounting plate, a second stepping motor, a synchronous belt device and a cutting tool; 2-4 finger bases are fixedly arranged on the palm, and the fingers are hinged with the bases; the lower side of the palm and the support rod are in fixed connection, the other end of the support rod is fixedly connected with the bottom plate; the first stepping motor is fixedly arranged on the bottom plate, the motor is connected with the lead screw nut through the shaft coupler; the nut is fixedly connected with the lifting platform; the lifting platform is hinged with one end of the drive rod, and the other end is hinged with the fingers; the palm side is vertically connected with one end of the side mounting plate, and the other end is vertically connected with the side of the bottom plate; the synchronous belt device is fixedly arranged on the side mounting plate, a drive wheel thereof is connected with the second stepping motor, and a driven wheel is hinged with the cutting tool. The invention further discloses a picking method. The device disclosed by the invention has the features of being simple in structure, convenient for control, capable of capturing the fruit through multiple postures and rapidly cutting the fruit stem.

Description

technical field [0001] The invention relates to the field of robot end effectors, in particular to an underactuated fruit and vegetable picking end effector device and a picking method. Background technique [0002] In my country's agricultural production, vegetables and fruits are the second and third largest crops respectively, and are important pillar industries for economic development in many regions. As the most time-consuming and labor-intensive link in agricultural production, fruit and vegetable picking accounts for about 40% of the workload of the entire production process. The labor intensity is high, the cost of manual picking is high, and the seasonality of fruits and vegetables is strong. Therefore, the application of agricultural picking robots is the fundamental way to solve the existing problems and the contradictions of the current situation. [0003] Among the current end effectors, the two-finger end effector has the problem of large finger size and unst...

AI Technical Summary

Problems solved by technology

The labor intensity is high, the cost of manual picking is high, and the seasonality of fruits and vegetables is strong. Therefore, the application of agricultural picking robots is the fundamental way to solve the existing problems and the contradictions of the current situation.

[0003] Among the current end effectors, the two-finger end effector has the problem of large finger size and unstable grasping; the multi-finger end effector uses multiple power sources, which makes the end effector mechanism larger in size and weight, and it is difficult to guarantee the safety of the product. reliability

For the fruit stem cutting mechanism, most of the fruit stems need to be identified and positioned first, which makes the fruit picking time longer and the picking efficiency lower

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