Fruit and vegetable picking manipulator, picking robot and picking method of picking robot

Abstract

The invention discloses a fruit and vegetable picking manipulator. The fruit and vegetable picking manipulator comprises a manipulator body, and the manipulator body comprises a manipulator shell, four mechanical claws and two rollers. The invention further discloses a picking robot. The picking robot comprises a robot base and any fruit and vegetable picking manipulator as described in the claims. The invention further discloses a picking method of the picking robot. The picking method comprises the steps that S1, the position where fruits and vegetables need to be picked is obtained and determined, a motor drives the manipulator shell to rotate by a certain angle, and an electric push rod pushes the manipulator shell to move up and down. By arranging an elastic air bag, the manipulator shell, magnetorheological fluid and other structures, push plates jointly fix branches of fruits and vegetables, picking is facilitated, magnets attract electromagnets and corresponding mechanical claws to rotate clockwise, cutting knives on the mechanical claws cut the branches of the fruits and vegetables, then brush bristles on the surfaces of the rollers brush the surfaces of the fruits and vegetables, and the fruits and vegetables roll on a straight plate after being cleaned, so that the fruits and vegetables are quickly classified.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking, in particular to a fruit and vegetable picking manipulator, a picking robot and a picking method thereof. Background technique [0002] In recent years, the picking of agricultural fruits and vegetables has gradually shifted from a large-scale manual operation to picking robots, making picking such labor-intensive work gradually towards automation. Picking robots, as an important type of agricultural robots, play a role in being able to Reduce the labor intensity and production costs of workers, improve labor productivity and product quality, and ensure timely harvesting of fruits, thus having great potential for development. [0003] However, in the process of picking fruits and vegetables, the existing picking robots often use cutting devices to cut off the branches of fruits and vegetables, so that the fruits and vegetables fall into the collection net. More labor costs. A...

AI Technical Summary

Problems solved by technology

[0003] However, in the process of picking fruits and vegetables, the existing picking robots often use cutting devices to cut off the branches of fruits and vegetables, so that the fruits and vegetables fall into the collection net. More labor costs. At the same time, most of the existing picking robots are suitable for picking fruits on fruit trees. During the picking process, the fruits and vegetables cannot be fixed well, so that fruits and vegetables will be accidentally injured in the process of cutting branches, and then It affects the picking quality of fruits and vegetables, and at the same time, due to the flexibility of the branches, the branches bounce off when they are cut.

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