A multi-claw pneumatic non-destructive fruit and vegetable picking manipulator with human-like picking action

Abstract

The invention discloses a multi-claw pneumatic damage-free fruit and vegetable picking manipulator capable of simulating a manual picking action. The manipulator comprises a multi-claw picking manipulator mechanism and a damage-free picking pneumatic system, wherein the multi-claw picking manipulator mechanism comprises a clamping mechanism and a picking mechanism; the clamping mechanism comprisesa three-claw cylinder, a moving base, a vacuum generator, a lower pull rod, a movable sliding block, an upper pull rod, a vacuum chuck, a picking claw and a pressure sensor; the main power plant of the picking mechanism is a rotary cylinder, the rotary cylinder is fixedly connected with a connecting plate through a bolt, the connecting plate is fixedly connected with the three-claw cylinder through a bolt, and the vacuum generator is fixedly connected with the connecting plate; the damage-free picking pneumatic system comprises an air compressor, an air source FRL unit, a picking pneumatic subsystem, a clamping pneumatic subsystem and an adsorption pneumatic subsystem. The multi-claw pneumatic damage-free fruit and vegetable picking manipulator capable of simulating the manual picking action has the advantages that the multi-link picking manipulator is designed, a plurality of actions such as adsorbing fruit, straightening fruit stems, clamping fruit and the like are realized throughone power plant, thereby simultaneously adjusting the postures of the fruit stems and clamping the fruit.

Description

technical field [0001] The invention relates to the technical field of modern agricultural equipment, in particular to the design of end effector manipulators of various fruit and vegetable picking robots. Background technique [0002] my country is the world's largest fruit producer and the world's largest fruit consumer. In 2012, my country ranked first in the world in terms of planting area and output of temperate fruits such as apples, citrus, pears, persimmons and peaches. In 2015, the total fruit output was 261.422 million tons, an increase of 4.2% over 2014. Facing the huge fruit output, the market demand for orchard mechanization has developed rapidly. As the core link in fruit harvesting, picking takes up 33% to 50% of the labor force used in the entire production process. Mechanized picking can reduce the labor intensity of manual labor, and with certain technical support, it can be higher than human work efficiency. At the same time, it can precisely control the ...

AI Technical Summary

Problems solved by technology

[0003] The existing problems of the currently designed picking manipulator include: 1) the design of the manipulator lacks pertinence

2) The clamping force of the manipulator is uncontrollable

3) It is difficult to find the fruit stem, and it is more difficult to separate the fruit from the fruit stem

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