Spherical fruit and vegetable flexible picking end executor

Abstract

The invention provides a spherical fruit and vegetable flexible picking end executor. The spherical fruit and vegetable flexible picking end executor comprises a control console, a mechanical arm mechanism and a flexible picking end executor body, the control console is internally provided with a control module, an image processing module and an electric power storage module, the upper surface ofthe control console is provided with the mechanical arm mechanism, the mechanical arm mechanism comprises a first connecting block, and the first connecting block is fixed on the upper surface of thecontrol console. The spherical fruit and vegetable flexible picking end executor has the advantages that a first hemispherical fixture and a second hemispherical fixture wrap to-be-picked fruits and vegetables, a hydraulic cylinder drives scissors on the end portion of a shear-fork telescopic rod to cut fruit stems, thereby achieving the separation between the to-be-picked fruits and vegetables and plants, the surfaces of the inner sides of the first hemispherical fixture and second hemispherical fixture are both covered with soft silicone pads, the damage to the outer peel of the fruits and vegetables is avoided very well, the quality of the fruits and vegetables is ensured, flexible picking can be smoothly carried out on tomatoes, apples, oranges and other spherical fruits and vegetables, the university is very good, the openness is strong, and the extension is easy.

Description

technical field [0001] The invention relates to the field of robotic technology equipment, in particular to a spherical fruit and vegetable flexible picking end effector. Background technique [0002] The traditional manual picking of fruits and vegetables is complicated and labor-intensive. Generally, the mechanized harvesting of spherical fruits such as apples, citrus, and tomatoes uses vibration to make the fruits on the plants fall, or even remove them in a large area, which cannot target the specific ripeness and size differences of the fruits, resulting in a great impact on the quality of the fruits. . In the automatic picking by picking robot, the fruit picking task must be performed by the end effector connected with the mechanical wrist of the robot. Some researches have been carried out in this field abroad. For example, N.Kondo in Japan introduced a tomato picking The robot end effector can grasp the tomato and twist off the fruit stem, but when twisting off the...

AI Technical Summary

Problems solved by technology

[0002] The traditional manual picking of fruits and vegetables is complicated and labor-intensive

Generally, the mechanized harvesting of spherical fruits such as apples, citrus, and tomatoes uses vibration to make the fruits on the plants fall, or even remove them in a large area, which cannot target the specific ripeness and size differences of the fruits, resulting in a great impact on the quality of the fruits.

In the automatic picking by picking robot, the fruit picking task must be performed by the end effector connected with the mechanical wrist of the robot. Some researches have been carried out in this field abroad. For example, N.Kondo in Japan introduced a tomato picking The robot end effector can grasp the tomato and twist off the fruit stem, but when twisting off the fruit stem, the fingers have a strong clamping force on the fruit, which often causes damage or even rupture of the fruit, and it can only be used for picking tomatoes; and D.M.Bulanon introduced an end effector for an apple-picking robot, which grasps and twists off the stem of an apple with two fingers, but has no feedback mechanism and cannot adapt to changes in the connection force between different fruits and stems, and can only be applied to apples in a specific growth period. pick

[0003] Due to the obvious differences in the shape, size, and physical characteristics of different fruits, the above-mentioned picking robot end effectors are all designed for picking specific fruits.

However, the variety of fruit and vegetable planting is rich, and the harvesting season is strong, resulting in low utilization efficiency of the end effector of the special picking robot. When harvesting different fruits and vegetables, the corresponding end effector must be designed and replaced, which has caused a lot of trouble for producers. huge cost burden

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