A cucumber flexible picking manipulator end effector and picking method
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
An end-effector and manipulator technology, applied in manipulators, agricultural machinery and implements, harvesters, etc., can solve the problems of easy clamping, easy breakage, low degree of mechanization, etc., to ensure non-destructive picking, strong adaptability, Shake avoidance effect
Active Publication Date: 2020-11-03
新昌县大菠萝农业发展有限公司
View PDF4 Cites 0 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides an end effector and picking method of a cucumber flexible picking manipulator, which overcomes the defects of low efficiency and low degree of mechanization in manual picking of cucumbers. The present invention uses a flexible clamping wall to clamp cucumbers In the middle and lower sections, the picking method of clamping the upper part of the cucumber with the clamping fingers and cutting the fruit stems with the cutting fingers solves the technical problems of low picking efficiency, easy damage when clamping, and easy breaking when shaking
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0027] 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. .
[0028] A cucumber flexible picking manipulator end effector and picking method designed in the present invention use a multi-joint manipulator to acquire and sense the working environment and cucumber information in real time through multi-sensor information fusion to ensure that the cucumber is aligned without damaging the cucumber , close to the cucumber, clamp the upper section of the cucumber, flexibly clamp the middle and lower sections of the cucumber, and cut off the fruit stem. The present invention adopts flexible clamping walls to flexibly clamp the middle and lower sections of the cucumber, clamp...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
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 ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.