Swallowing type fruit and vegetable picking robot

Abstract

The invention discloses a swallowing type fruit and vegetable picking robot. The robot comprises an intelligent moving platform, a bionic swallowing transportation device, a robot body and an industrial personal computer, wherein the robot body and the industrial personal computer are installed on the intelligent moving platform; the bionic swallowing transportation device is installed in the robot body in a penetrating mode; the bionic swallowing transportation device comprises inflation pipelines, a transportation pipeline and an air compressor; the inflation pipelines are evenly arranged along the inner surface of the transportation pipeline; each inflation pipeline is provided with a vent hole communicating with the air compressor; one end of the transportation pipeline is provided with a suction inlet and fixed to the robot body; and an opening in the other end of the transportation pipeline leads to the interior of a fruit and vegetable collecting box. When the fruit and vegetable picking robot is used for picking fruits and vegetables, only the positions of the fruits and vegetables need to be recognized, and the postures of the fruits and vegetables do not need to be judged, so that a control program of the picking robot is simplified, and the picking efficiency is improved; mechanical damage to the fruits and vegetables is avoided in the whole fruit and vegetable picking and transporting process, so that rapid lossless picking operation is achieved; and the robot is suitable for picking various fruits and vegetables.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking, in particular to a swallowing type fruit and vegetable picking robot. Background technique [0002] Fruit and vegetable picking is currently the most time-consuming and labor-intensive link in the fruit and vegetable production chain. The quality of picking operations directly affects subsequent processing and storage. Therefore, the research and development of fruit and vegetable picking devices is of great significance for liberating labor, improving labor production efficiency, reducing labor costs, ensuring the quality of fresh fruits and vegetables, and meeting the real-time requirements of crop growth. At present, most of the picking robots at home and abroad use various types of mechanical grippers or flexible grippers as end effectors to grab and pick the target fruit, which not only requires the picking robot to have a high-precision grasping force control strategy to...

AI Technical Summary

Problems solved by technology

The apple picking robot developed by Abundant Robotics in California, USA, uses a 3-DOF Delta parallel mechanism as a robotic arm to pick apples by vacuuming the trees through a pipeline connected to an air pump, without causing damage to the apples; But in the process of picking apples, there is a risk of sucking in the leaves and damaging the branches of the fruit tree

In view of the low picking efficiency and complicated control system of the existing picking robots, it is urgent to invent a new picking robot structure and picking method to realize the fast and non-destructive operation of the picking robot

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