Spherical fruit and vegetable picking robot

Abstract

The invention provides a spherical fruit and vegetable picking robot. The spherical fruit and vegetable picking robot comprises a robot body, the robot body is provided with a movement mechanism, andthe movement mechanism is a crawler-type movement wheel, an executing mechanism at the tail end of the robot vacuates a vacuum sucker to adsorb to-be-picked fruits and vegetables through a vacuum pump, a first pressure sensor on the vacuum sucker feeds back negative information of the vacuum sucker, a first linear motor and a second linear motor respectively stretches or compresses a first springand a second spring, so that a first copying finger and a second copying finger expand outward or retract inward to achieve the clamping of the fruit and vegetables with different sizes, second pressure sensors on the first copying finger and second copying finger feed back the clamping force, the surfaces of the inner sides of the first copying finger and second copying finger are covered with soft silicone pads, the damage to the outer peel of the fruits and vegetables is avoided very well, 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.

Description

technical field [0001] The invention relates to the field of robotic technology equipment, in particular to a spherical fruit and vegetable picking robot. 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 fruit stem, 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

Images