A cucumber flexible picking manipulator end effector and picking method

Abstract

The invention provides a cucumber flexible picking manipulator end executor and a picking method and relates to the field of agricultural picking robots. The cucumber flexible picking manipulator endexecutor is composed of a stepping motor, polished shafts, a lead screw, a mounting plate, a supporting plate, a nut slide block, an ejector plate, a visual sensor, a cutting cylinder, cutting fingers, a clamping cylinder, clamping fingers, springs, flexible clamping walls, silica gel keys, a laser sensor, a clamping arm rotating shaft and a rotary motor. The cucumber flexible picking manipulatorend executor is characterized in that the flexible clamping walls are installed on the two sides of the mounting plate through clamping wall rotary shafts, the silica gel keys are connected with the flexible clamping walls through the springs, and the working processes of aligning at cucumbers, moving close to the cucumbers, clamping the upper sections of the cucumbers, flexibly clamping the middle lower sections of the cucumbers and cutting off stems are completed. By adoption the picking manners that the flexible clamping walls clamp the middle sections and the lower sections of the cucumbers, the clamping fingers clamp the upper sections of the cucumbers, and the cutting fingers cut off the stems, the technical problems that the cucumber picking efficiency is low and cucumbers are proneto being damaged during clamping and are liable to break off due to shaking are solved.

Description

technical field

[0001] The invention relates to the field of agricultural picking robots, in particular to an end effector of a cucumber flexible picking manipulator 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] There are three points in the analysis of the physical characteristics of cucumbers based on test data. First, the middle and lower sections of cucumber contain a large number of seeds, and the seeds are large, with ...

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