End effector for picking tomatoes through synchronous adsorption and clamping, and corresponding picking mechanism and method

Abstract

The invention provides an end effector for picking tomatoes through synchronous adsorption and clamping, and a corresponding picking mechanism and method, and relates to the field of agricultural picking robots. The end effector is composed of a manipulator end effector, a robot arm, a moving platform, a fruit storage box and a control box, and is characterized in that the robot end effector is mounted on the end of the robot arm which is mounted on the moving platform; the robot end effector further comprises a first cylinder, a mounting plate, a second cylinder, a U-shaped bracket, a suckercylinder, a spring bracket, springs, an imitation finger structure, a sucker, a finger press disc and a cylinder shaft. The invention provides the end effector for picking tomatoes through synchronousadsorption and clamping and the corresponding picking mechanism and method, so that the defects of low efficiency and low mechanization degree of existing manual picking of tomatoes are overcome. Inthe technical scheme, fruits are adsorbed and synchronously clamped, and then fruit stems are swung for being broken off, and therefore the technical problem that the efficiency of picking tomatoes islow is solved.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an end effector for absorbing and gripping tomatoes and a corresponding picking mechanism and method for synchronous picking. Background technique [0002] With the promotion of greenhouse tomato planting technology in my country, the planting area and annual output are increasing. The fruit of tomato is rich in nutrition and has a special flavor. One of the vegetables, at present, the harvest of tomatoes in our country is completely dependent on manual picking. The manual harvesting of tomatoes in our country has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in our country, the shortage of rural labor force is becoming more and more obvious. Research and promotion of automatic tomato harvesting technology has become an urgent problem to be solved at this stage. [0003] Two to five tomatoes grow in...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the above-mentioned prior art, the present invention provides an end effector for tomato adsorption and clamping synchronous picking and a corresponding picking mechanism and method to overcome the defects of low efficiency and low degree of mechanization in the existing manual picking of tomatoes. The picking method of clamping and then swinging to break the fruit stem solves the technical problem of low tomato picking efficiency

Images