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Tomato adsorption clamping synchronous picking manipulator end actuator

A technology of end effectors and manipulators, applied in the direction of manipulators, agricultural machinery and implements, chucks, etc., can solve the problems of low picking efficiency, low degree of mechanization, low efficiency of tomato picking, etc., to achieve increased clamping speed, high reliability, The effect of convenient and quick adjustment of working speed

Inactive Publication Date: 2017-12-12
谷新运
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] In view of the defects in the above-mentioned prior art, the present invention provides a tomato adsorption and clamping synchronous picking manipulator end effector, which overcomes the defects of low efficiency and low degree of mechanization in the existing tomato manual picking. Then the picking method of swinging and breaking the fruit stem solves the technical problem of low tomato picking efficiency

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  • Tomato adsorption clamping synchronous picking manipulator end actuator
  • Tomato adsorption clamping synchronous picking manipulator end actuator
  • Tomato adsorption clamping synchronous picking manipulator end actuator

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Embodiment Construction

[0028] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and the protection scope of the present invention is not limited to the following specific embodiments. .

[0029] The end effector of a tomato adsorption and clamping synchronous picking manipulator designed by the present invention uses a multi-joint manipulator to acquire and sense the working environment and tomato information in real time through multi-sensor information fusion to ensure that the fruit is aligned without damaging the tomato 1. Adsorbing fruit, sucking and pulling clamping and swinging and breaking the working process, the invention adopts the picking method of sucking and pulling the fruit to clamp synchronously, and then swinging and breaking the fruit stem, which solves the technical probl...

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Abstract

The invention provides a tomato adsorption clamping synchronous picking manipulator end actuator, and relates to the field of agricultural picking robots. The tomato adsorption clamping synchronous picking manipulator end actuator comprises a mounting base, a first cylinder, a second cylinder, a sucker cylinder, a U-shaped support, a spring support, a spring, a profiling finger structure, a sucker, a finger pressure plate and a telescopic cylinder shaft, wherein the profiling finger structure comprises a left profiling finger, a pressure sensor, a rotating shaft, a left finger semicircular press plate, a right finger semicircular press plate and a right profiling finger. The tomato adsorption clamping synchronous picking manipulator end actuator finishes the working process of fruit alignment, fruit adsorption, suction pulling clamping and swing breakage, overcomes the shortcomings of low manual tomato picking efficiency and low mechanization degree in the prior art, and solves the technical problem of low tomato picking efficiency by the picking mode of fruit suction pulling, synchronous clamping and fruit stem swing breakage.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an end effector of a tomato adsorption and clamping synchronous picking manipulator. Background technique [0002] With the promotion of greenhouse tomato planting technology in my country, the planting area and annual output are increasing. The fruit of tomato is rich in nutrition and has a special flavor. One of the vegetables, at present, the harvest of tomatoes in our country is completely dependent on manual picking. The manual harvesting of tomatoes in our country has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in our country, the shortage of rural labor force is becoming more and more obvious. Research and promotion of automatic tomato harvesting technology has become an urgent problem to be solved at this stage. [0003] Two to five tomatoes grow in bunches and touch each other. During the...

Claims

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Application Information

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IPC IPC(8): B25J15/06B25J15/08A01D45/00
CPCA01D45/006B25J15/0616B25J15/08
Inventor 谷新运孙文庆宋宇李豫明
Owner 谷新运
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