End effector of flexible picking mechanical hand for tomatoes

A technology of end effectors and manipulators, applied in the direction of manipulators, agricultural machinery and implements, harvesters, etc., can solve the problems of low tomato picking efficiency, low degree of mechanization, and low picking efficiency, and achieve convenient and quick adjustment of working speed, lifting clips The effect of sustained speed and long service life

Inactive Publication Date: 2018-02-09
谷新运
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  • Summary
  • 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 flexible picking manipulator end effector, which overcomes the defects of low efficiency and low degree of mechanization in the existing manual picking of tomatoes. The key has flexible and self-adaptive ability, and then the picking method of swinging and breaking the fruit stem solves the technical problem of low efficiency and easy damage of tomato picking

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  • End effector of flexible picking mechanical hand for tomatoes
  • End effector of flexible picking mechanical hand for tomatoes
  • End effector of flexible picking mechanical hand for tomatoes

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[0029] 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. .

[0030] The end effector of a tomato flexible picking manipulator designed by the present invention uses a multi-joint manipulator to obtain and sense the working environment and tomato information in real time through multi-sensor information fusion, so as to ensure that the fruit is aligned and adsorbed without damaging the tomato. , Suction clamping and swing breaking working process, the invention adopts the suction and pull fruit synchronous clamping, the silicone piano key adapts to the outer contour of the tomato, and then swings and breaks the picking method of the fruit stem, which solves the techno...

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Abstract

The invention provides an end effector of a tomato flexible picking manipulator, which relates to the field of agricultural picking robots. Finger structure, suction cup, finger pressure plate and shaft, the profiling finger structure includes silicone piano keys, miniature springs, finger shaft, left profiling finger, right finger semicircle pressure plate, left finger semicircle pressure plate and right profiling finger , the present invention completes the working process of aligning fruit, absorbing fruit, sucking and clamping and swinging and breaking, and overcomes the defects of low efficiency and low degree of mechanization of existing tomato manual picking. With flexible self-adaptive ability, the picking method of swinging and breaking the fruit stems solves the technical problems of low tomato picking efficiency and easy damage.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an end effector of a tomato flexible picking manipulator. Background technique [0002] Tomato fruit is rich in nutrition and has a special flavor. It can be eaten raw, cooked, processed in tomato sauce, juice or canned as a whole fruit. It has become one of the main vegetables for people. With the promotion of greenhouse tomato planting technology in my country, the planting area and annual output are increasing It is getting bigger and bigger. At present, the harvest of tomatoes in our country is completely dependent on manual picking. In my country, the manual harvesting of tomatoes has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and the aging of the population in our country, the shortage of rural labor force is becoming more and more obvious. Research and promotion of automatic tomato harvesting technology has bec...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00A01D45/00
CPCB25J15/0033A01D45/006B25J15/0052
Inventor 谷新运宋宇孙文庆李豫明张继帅
Owner 谷新运
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