Tomato Bunch Harvesting Manipulator End Effector and Method

Abstract

The invention discloses a tomato fruit bunch harvesting manipulator end effector, which comprises a T-shaped frame, a cutting mechanism, a clamping mechanism and a control system. The cutting mechanism is installed above the T-shaped frame, and the clamping mechanism is installed under the front of the T-shaped frame. ; The clamping mechanism is driven by a stepper motor to move the left and right clamping arms in two directions, and the main fruit stem of the fruit is clamped by the left and right clamping arms of the clamping mechanism. The clamping force is sensed by the piezoelectric sensor and set by the controller. fixed, which ensures reliable clamping and does not pinch the fruit stem; the cutting mechanism consists of upper half knife, lower half knife and knife shaft to form scissors. The separation of the tomato main stem avoids affecting the later growth of the whole tomato by pulling and picking; the whole picking process is controlled by the control system, which realizes automation. The invention has the advantages of compact structure, reliable operation, and adapts to the requirement of string picking of different varieties of tomatoes, and provides an end effector with excellent performance for a tomato fruit string harvesting robot.

Description

Technical field [0001] The invention belongs to the field of agricultural machinery, and specifically relates to an end effector of a tomato fruit string harvesting manipulator and a method thereof. Background technique [0002] At present, the cultivation, processing and export of Chinese tomatoes are in a state of continuous growth. After more than 20 years of development, China has become the world’s most important producer and exporter of tomato products, and the third largest producer and exporter after the United States and the European Union. The largest exporter. Tomatoes mainly work on processing tomatoes based on the principle of jam processing and fresh tomatoes based on vegetables and fruits. The fruit of processed tomato is relatively hard to damage. The harvest of processed tomato in my country has basically achieved mechanization; fresh tomato is a kind of fruit and vegetable with a high popularity rate in our country, but because the peel of fresh tomato is immat...

AI Technical Summary

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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