Airbag type cucumber picking manipulator terminal actuator and picking method

Abstract

The invention provides an airbag type cucumber picking manipulator terminal actuator and a picking method, and relates to the field of agricultural picking robots. The airbag type cucumber picking manipulator terminal actuator consists of airbag clamping walls, airbag intake holes, airbags, a laser sensor, a motor, a mounting plate, a visual sensor, a cutting cylinder, cutting fingers, a clampingcylinder, clamping fingers and clamping wall rotating shafts. The airbag type cucumber picking manipulator terminal actuator is characterized in that the airbag clamping walls are mounted on two sidesof the mounting plate through clamping wall rotating shafts; the airbag intake holes are formed in the side surfaces of the airbag clamping walls; the airbags are arranged on the inner sides of the airbag clamping walls; under the precondition of not damaging cucumbers, the working process of aligning to the cucumbers, approaching the cucumbers, clamping the upper sections of the cucumbers, clamping the middle and lower sections of the cucumbers by the airbags and cutting off stems is finished; the middle sections and the lower sections of the cucumbers are clamped by adopting the airbags; the upper sections of the cucumbers are clamped by the clamping fingers; and the stems are cut by the cutting fingers, so that the technical difficulties of low picking efficiency of the cucumbers and easiness in breakage due to shaking are solved.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an airbag-type cucumber picking manipulator end effector and a picking method. Background technique [0002] With the development of greenhouse technology, cucumbers are currently planted in a large area in my country, and picking is the most time-consuming and labor-intensive link in the cucumber production chain. It is seasonal and labor-intensive. At present, it mainly relies on manual picking, and the cost is high. Therefore, ensuring timely harvesting of cucumbers and reducing harvesting costs is an important way to increase agricultural income. It is of great significance to study cucumber picking robots suitable for greenhouse environments. [0003] The end effector of the cucumber picking robot is installed on the front end of the robotic arm and directly contacts the cucumber, which is the key execution part of picking. There are three points in the test to ana...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides an end effector of an airbag-type cucumber picking manipulator and a picking method, which overcomes the defects of low efficiency and low degree of mechanization in manual picking of cucumbers in the prior art. The lower part, the picking method of clamping the upper part of the cucumber with the fingers and cutting the fruit stems with the fingers, solves the technical problems of low picking efficiency and easy breaking of cucumbers when shaking

Images