Tomato longitudinal and flexible clamping picking manipulator terminal executor and picking method

Abstract

The invention provides a tomato longitudinal and flexible clamping picking manipulator terminal executor and a picking method and relates to the field of agricultural picking robots. The tomato longitudinal and flexible clamping picking manipulator terminal executor is composed of a rubber bottom plate, a bottom holding spring, a bottom holding silica gel key, a finger silica gel key, a finger spring, a rubber finger, a visual unit, a mounting plate, an air cylinder, a driving gear, a motor, a mechanical arm connecting plate, a transmission shaft, a driven gear and a bottom plate connecting piece and characterized in that the rubber bottom plate is connected with the air cylinder shaft through the bottom plate connecting piece, the air cylinder is mounted on the back face of the mounting plate, and the bottom holding silica gel key is connected with the rubber bottom plate through the bottom holding spring; and the bottom holding silica gel key is a square silica gel block with the edge length being 5 mm. According to the tomato longitudinal and flexible clamping picking manipulator terminal executor and the picking method, the modes that tomatoes are longitudinally and flexibly clamped and then fruit stems are snapped in a swing mode are adopted, and through the work processes that the tomato longitudinal and flexible clamping picking manipulator terminal executor aligns at fruits, gets close to the fruits, longitudinally and flexibly clamps the fruits and snaps the fruits in the swing mode, the technical difficult problem that the tomato picking rate is low and clamping is likely to cause damage 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 longitudinally flexible clamping tomato picking and a picking method. 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] Combined with the growth characteristics of tom...

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 and a picking method of a manipulator for longitudinally flexible clamping tomato picking, which overcomes the defects of low efficiency and low degree of mechanization in manual picking of tomatoes. The present invention adopts longitudinal flexible clamping Tomatoes, and then the picking method of swinging and breaking the fruit stems solves the technical problems of low tomato picking efficiency and easy clamping damage

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