Robot end actuator used for picking clustered tomatoes

Abstract

A robot end actuator used for picking clustered tomatoes includes an outer cylinder, an inner cylinder, a clustered fruit collecting mechanism, a fruit releasing mechanism, N fruit stem rotating and cutting mechanisms and the like. The clustered fruit collecting mechanism is controlled through a limiting switch and a time delay module, a direct current deceleration motor and a direct current push-pull electromagnet are sequentially electrified and rotate, a rotating disc is driven to rotate so that several fruit stems of the clustered tomatoes are gathered and tightened, and then the fruit stems are cut off through the fruit stem rotating and cutting mechanisms. The fruit releasing mechanism can fix the outer cylinder and a handle, and then through rotation of a mechanical arm, the tomatoes can be released out from the inner cylinder. A cluster of several tomatoes on one plant can be harvested simultaneously through a single operation task, the picking efficiency of the robot is improved, and rotation of the rotating disc makes the several fruit stems of the clustered tomatoes gathered and tightened so that the high-speed circular motion of cutting blades can effectively improve the success rate of separation of fruit stems for the rotating and cutting device.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a robot end effector, in particular to a robot end effector for cluster tomato picking. Background technique [0002] Up to now, field crops such as rice, wheat, corn, rapeseed, soybean, peanut, potato, etc. can be harvested mechanized, but the harvesting of commercially available fresh tomatoes has not yet been mechanized. With the expansion of cities and the rapid increase of urban population, the market demand for fresh tomatoes is increasing day by day, and the scale of greenhouse tomato cultivation will be further expanded. Considering the unfavorable factors such as increased planting area, short harvesting time, high labor intensity, heavy work tasks, harsh working environment, and high manual harvesting costs, it has become a top priority to develop greenhouse tomato harvesting robots to replace manual operations. However, the single operation task of the existing fruit...

AI Technical Summary

Problems solved by technology

Considering the unfavorable factors such as increased planting area, short harvesting time, high labor intensity, heavy work tasks, harsh working environment, and high manual harvesting costs, it has become a top priority to develop greenhouse tomato harvesting robots to replace manual operations

However, the single operation task of the existing fruit and vegetable picking robot is mainly for harvesting a single fruit on the tomato plant, and the harvesting efficiency is low, which is the main reason restricting its popularization and application

In addition, when picking a single fruit, the robotic arm of the robot requires high positioning accuracy so that the end effector can accurately grasp the fruit, thus prolonging the decision-making process and path planning time of the robot and reducing the robot’s time. Picking efficiency

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