Fruit picking robot end actuator and harvesting method

Abstract

The invention relates to a fruit picking robot end actuator and a harvesting method. The fruit picking robot end actuator comprises a rack, a flexible belt, supporting wheels, a guiding mechanism, a clamping adjusting mechanism, a floating adjusting mechanism, a driving mechanism and a lower conveying belt, and a symmetrical clamping conveying action mode is adopted. A flexible material is attached to the surface of the flexible belt and used for clamping and picking fruits and conveying the fruits; the supporting wheels are used for supporting the flexible belt and keeping the flexible belt in a tensioned state; the guiding mechanism is used for guiding the feeding of the fruits and completing the cutting of fruit stems; the floating adjusting mechanism can adjust the rotating angle according to the sizes of the fruits and change the opening size of the end actuator; the clamping adjusting mechanism is used for changing the clamping force and completing the clamping and picking of thefruits; and the lower conveying belt is used for changing the fruit picking stress direction during feeding and meanwhile plays a role in supporting the fruits. The fruit picking robot end actuator integrates fruit picking and conveying and has the advantages of being simple in structure, capable of reducing the harvesting process and high in harvesting efficiency.

Description

technical field [0001] The invention belongs to the field of agricultural robots, and relates to an end effector and a harvesting method of a fruit picking robot, which realize picking and transporting apples, tomatoes and other fruits. [0002] technical background [0003] At present, the harvesting of apples, tomatoes and other fruits is basically done manually. The level of mechanization is low, which is time-consuming and laborious, resulting in a decline in production efficiency. Therefore, it is necessary to vigorously improve the level of mechanized harvesting. [0004] The end effector of the existing harvesting robot mostly adopts the manipulator scheme, which needs to complete the object positioning and the coordinated control of the manipulator, and the control is complicated; one manipulator can only complete the harvesting end effector extension, picking, frame-setting and other processes in sequence, and the efficiency is low. Low; [0005] In view of the prob...

AI Technical Summary

Problems solved by technology

[0003] At present, the harvesting of apples, tomatoes and other fruits is basically done manually. The level of mechanization is low, which is time-consuming and laborious, resulting in a decline in production efficiency. Therefore, it is necessary to vigorously improve the level of mechanized harvesting.

[0004] The end effector of the existing harvesting robot mostly adopts the manipulator scheme, which needs to complete the object positioning and the coordinated control of the manipulator, and the control is complicated; one manipulator can only complete the harvesting end effector extension, picking, frame-setting and other processes in sequence, and the efficiency is low. Low;

[0005] Aiming at the problems of low efficiency and complex control of existing end effectors, it is urgent to invent a fruit picking robot end effector and harvesting method to realize fruit picking and transportation, make the operation steps simpler and faster, and improve harvesting efficiency

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