Terminal actuator for picking tomato fruit clusters and picking method thereof

Abstract

The invention discloses a terminal actuator for picking tomato fruit clusters and a picking method thereof. The terminal actuator for picking the tomato fruit clusters comprises a support, a clamping stepping motor, a fixed clamping arm, an ultrasonic distance measuring sensor, a cam serrated blade knife, a cutting stepping motor, a movable clamping arm, a gear rack, and a controller. A clamping mechanism composed of the fixed clamping arm and the movable clamping arm clamps main fruit stems of the tomato fruit clusters, and the ultrasonic distance measuring sensor conducts distance measuring and controls a clamping gap so as to control clamping force. The rotary cam serrated blade knife mounted on the fixed clamping arm cuts off the main fruit stems, so that separation of the fruit clusters and plants is achieved, picking of one cluster of the fruits can be completed in one picking process, therefore the picking productivity is improved greatly, and products also meet the requirements of consumers. Clamping and fruit stem cutting off operating parts are not in contact with the fruits, so that damages to the fruits and the plants is avoided. The whole terminal actuator is compact in structure, easy and convenient to operate, and reliable in working.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a special end effector for a manipulator for picking fruit bunches. Background technique [0002] Tomato is a common vegetable and fruit in daily life, and it is also the most widely cultivated and consumed vegetable crop in the world. It is of great significance to realize the mechanized operation of tomato. At present, although the planting of tomatoes has a certain degree of mechanization, the degree of mechanization in the harvesting of fresh tomatoes is extremely low. It is mainly done manually and purely by hand. The labor intensity is high, the efficiency is low, and the cost of picking is high, which also affects the planting efficiency of tomatoes. . At present, research on tomato picking manipulators has been carried out. Most of the research focuses on the structure and motion path optimization of the robotic arm. There are also some researches on the...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the production problems such as low efficiency and high cost of manually picking tomato fruits, as well as the shortcomings of the air-suction and mechanical gripping fruit end effectors in the existing research and development stage, such as low single-harvest productivity and easy damage to the fruit skin, the invention provides a tomato The fruit bunch picking end effector clamps the main stem of the whole tomato fruit bunch through the clamping mechanism composed of a fixed clamping arm and a movable clamping arm. The clamping force is controlled by the host computer according to the relationship between the diameter of the main stem and the clamping pressure. Given, it avoids the damage caused by directly clamping the fruit; after the clamping is completed, the main stem is cut off by the micro-cam serrated knife set at the clamping part of the fixed clamping arm, which also avoids the complicated actuator of the current fruit picking end effector The damage caused to fruits and plants can complete the harvesting of a bunch of tomatoes at a time, the effect is high, and the whole device has a compact structure, which improves the convenience of operation and safety and reliability

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