A robotic end effector for simultaneous picking of multiple strawberries
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A technology of end effector and manipulator, applied in the direction of pickers, manipulators, agricultural machinery and implements, etc., can solve the problems of low picking efficiency of a single strawberry, easy damage to strawberry picking, low degree of mechanization, etc. Convenient and quick adjustment, the effect of improving efficiency
Active Publication Date: 2020-08-14
石柱土家族自治县八龙农业开发有限公司
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[0006] Aiming at the defects in the above-mentioned prior art, the present invention provides a multi-strawberry picking manipulator end effector at the same time, which overcomes the defects of low efficiency and low degree of mechanization in the existing strawberry manual picking. The present invention has a small mechanical structure, high positioning accuracy, The efficiency of picking multiple strawberries at the same time is high, which solves the technical problems of easily damaged strawberries and low picking efficiency of a single strawberry
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[0033] 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. .
[0034] The multi-joint manipulator designed by the present invention utilizes a multi-joint manipulator to acquire and perceive the working environment and strawberry information in real time through multi-sensor information fusion, ensuring that the strawberries can be approached and picked without damaging the strawberries. The working process of fruit, pressing handle, cutting fruit handle and putting fruit, and through the control of the mechanical arm, the strawberries in the storage bag are recovered to realize the whole process of automatic harvesting of strawberries.
[0035] see Figure 1 to Figu...
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Abstract
The invention provides a manipulator end executor capable of picking multiple strawberries simultaneously, and relates to the field of agricultural picking robots. The executor is composed of a fruitgathering plate, a side vertical plate, a cutting mechanism, a visual unit, a rear vertical plate, a cylinder, an air inlet, an air outlet, a mounting base, a storage bag and a storage battery, the fruit gathering plate is comprises fruit stem pressing protrusions, a blade groove, a rubber triangular pyramid, an electromagnet and an electromagnet switch, the cutting mechanism comprises a sliding rail, a trigger, a cutting blade mechanism sliding groove, a fruit stem groove and a cutting blade mechanism, and the cutting blade mechanism comprises a spring mounting base, a spring, a blade base support ad a blade. The manipulator end executor is small in size and flexible, the defects that the exiting strawberry manual picking efficiency is low, and the degree of mechanisation is low are overcome, the mechanical structure is small in size, the positioning precision is high, multiple strawberries are picked simultaneously so that the efficiency is high, and the technical problems that strawberry picking is likely to cause damage, and the single strawberry picking efficiency is low are solved.
Description
technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an end effector of a manipulator for simultaneous picking of multiple strawberries. Background technique [0002] my country's strawberry planting area is vast, ranking first in the world. Strawberries are delicious, nutritious, loved by people, and have high economic value. At present, the harvest of strawberries depends entirely on manual picking. In my country, the manual harvesting of strawberries has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in my country, the shortage of rural labor is becoming more and more obvious. Research and promote strawberry automation. Harvesting technology has become an urgent problem to be solved at this stage. [0003] At present, the strawberry cultivation mode in our country is ridge cultivation. In order to make full use of light energy and benefit the grow...
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