Flexible tomato picking end actuator and corresponding picking mechanism and method

Abstract

The invention provides a flexible tomato picking end actuator and a corresponding picking mechanism and method, and relates to the field of agricultural picking robots. The end actuator is composed ofa fruit storage box, a control box, a movable platform, a mechanical arm and a mechanical arm end actuator; the mechanical arm end actuator comprises a first air cylinder, a visual sensor, a second air cylinder, an air cylinder mounting plate, a U-shaped support, a spring support, springs, a profiling finger structure, a suction cup, a finger pressure plate, a suction cup air cylinder and rotating shafts; the profiling finger structure comprises silica gel piano keys, micro springs, finger rotating shafts, a left profiling finger, a left finger semicircular pressing plate, a right finger semicircular pressing plate and a right profiling finger. The end actuator completes fruit alignment, fruit adsorption, suction, pulling, clamping, swinging and breaking work processes, fruits are suckedand pulled and synchronously clamped, the silica gel piano keys have the flexible self-adaptation capacity, and then fruit stems are swung and broken for picking, so that the technical problems that tomatoes are low in picking efficiency and likely to be bruised are solved.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a flexible tomato picking end effector and a corresponding picking mechanism and method. 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 tomat...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the above-mentioned prior art, the present invention provides a flexible tomato picking end effector and corresponding picking mechanism and method to overcome the defects of low manual picking efficiency and low degree of mechanization of existing tomatoes. A number of silicone piano keys have flexible self-adaptive capabilities, and then the picking method of swinging and breaking the fruit stems solves the technical problems of low efficiency and easy damage of tomato picking

Images