Picking robot for spherical fruits

Abstract

The invention discloses a picking robot for spherical fruits, which comprises a moving carrier, a parallel mechanical arm, a negative pressure adsorption end effector, a lifting platform, a fixed chassis, a hose, a negative pressure generating system, a fixed column, a fruit collecting box, a visual recognition mechanism, a control box and a generator, the lifting platform is mounted on the movingcarrier, the negative pressure generating system, the control box, the fruit collecting box, the fixed column and the generator are all fixedly mounted on a lifting platform of the lifting platform;the fixed chassis is fixedly installed on the fixed column, the fixed end of the parallel mechanical arm is fixed to the fixed chassis, and the negative pressure adsorption end effector is connected to the movable end of the parallel mechanical arm. The mechanical arm of a parallel structure is adopted instead of a traditional mechanical arm of a series structure, the improvement effectively improves the fruit picking efficiency, the negative pressure adsorption picking mode is adopted by the negative pressure adsorption end effector, the picking action is simple, and the picking efficiency ishigher.

Description

technical field [0001] The invention relates to the field of intelligent picking robots, and more specifically relates to a picking robot for spherical fruits. Background technique [0002] Nowadays, most of the harvesting process of fruit picking is manual participation, the labor intensity is high, and the employment cost is rising year by year, which leads to an increase in the cost of fruit harvesting. In the process of harvesting spherical fruits, such as fruits, peaches, pears, apricots and other fruits that grow on trees, orchard workers usually put ladders on fruit trees, carry fruit baskets, climb ladders, and pick trees. The fruit is put into a fruit basket with a certain capacity. After the fruit is filled with the basket, the worker climbs down the ladder to empty the fruit basket, and then repeats this process. However, because the capacity of the fruit basket is often not very large, this process often needs to be repeated. many times. This traditional manual...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the lack of existing picking robots, and a small number of picking robots mainly use humanoid finger structures in picking spherical fruits, and use different picking methods for different fruits, resulting in low efficiency. For the problem of easy damage to the fruit, a picking robot for spherical fruit is proposed to improve the picking efficiency of the picking robot, and at the same time, it can greatly reduce the damage in the process of picking spherical fruit

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