End effector of manipulator for harvesting tomato fruit strings and method of end effector

Abstract

The invention discloses an end effector of a manipulator for harvesting the tomato fruit strings. The end effector comprises a T-shaped rack, a cutting mechanism, a clamping mechanism and a control system, wherein the cutting mechanism is mounted above the T-shaped rack; the clamping mechanism is mounted in the front lower direction of the T-shaped rack; a left clamping arm and a right clamping arm of the clamping mechanism are electrically driven to move in the bidirectional manner in a stepping manner; the left clamping arm and the right clamping arm of the clamping mechanism clamp a main fruit stem of fruits; a clamping force is sensed by a piezoelectric sensor and is set by a controller; reliable clamping is guaranteed; the fruit stem cannot be broken; the cutting mechanism consists of an upper half blade, a lower half blade and a knife pivot which form scissors; the upper half blade and the lower half blade are driven by a cylinder to open and shear, and a fruit string is separated from a main tomato stem; the circumstance that later-period growth of a whole tomato plant is affected by picking in a dragging manner is avoided; a whole picking process is finished under the control of a control system; and automation is realized. The end effector is compact in structure and reliable in work, and meets requirements of string picking of tomatoes in different varieties; and the end effector which is excellent in performance is provided for a robot for harvesting the tomato fruit strings.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to an end effector of a manipulator for harvesting tomato fruit bunches and a method thereof. Background technique [0002] At present, China's tomato planting, processing and export are in a state of continuous growth. After more than 20 years of development, China has become the most important producer and exporter of tomato products in the world, and it is the third largest production area after the United States and the European Union. largest exporting country. The main operation of tomato is the processing tomato of jam processing principle and the fresh tomato of operation vegetable and fruit. The fruit of processed tomato is relatively strong and not easy to damage. The harvest of processed tomato in my country has basically realized mechanization; fresh tomato is a kind of fruit and vegetable with a high popularity rate in my country, but due to the immatu...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the shortcomings of manual harvesting of fresh tomatoes and the outstanding production problems of the lack of picking machinery at present, and provide a tomato fruit bunch harvesting manipulator end effector and its method, so as to realize the mechanized bunch picking of fresh tomatoes

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