Robot end effector for picking flat and cut stalk of fruit, and operation method

A technology of end effectors and robots, which is applied in the field of agricultural robots, can solve problems such as fracture, difficulty in meeting the requirements of flat stems, and difficulty in picking flat stems, and achieves self-adaptive poses, avoiding damage, and simple and reliable structures.

Active Publication Date: 2021-06-22
JIANGSU UNIV
View PDF8 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Flat stems require widespread adoption in fruit harvesting by hand, but pose great challenges for robotic harvesting
Existing picking robot end effectors are generally divided into two categories. The first category picks the fruit by pulling, twisting,

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot end effector for picking flat and cut stalk of fruit, and operation method
  • Robot end effector for picking flat and cut stalk of fruit, and operation method
  • Robot end effector for picking flat and cut stalk of fruit, and operation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0052] Such as figure 1 As shown, the robot end effector for fruit flat stem picking includes a cylindrical annular airbag mechanism, a spherical two-finger mechanism and a swing knife mechanism. Knife mechanism is also installed on the cylinder 6 upper nozzle surface of cylinder annular air bag mechanism.

[0053] Such as figure 1 As shown in FIG. 2 , the cylindrical annular air bag mechanism includes a cylinder 6 , an annular air bag 7 , a trachea 9 , a sliding module, a pneumatic system and a fruit delivery hose 8 . The annular airbag 7 is installed on the inner wall of the cylinder 6 through a sliding module, the vertical centerline of the annular airbag 7 coincides with the centerline of the cylinder 6, and the direction in which the annular airbag 7 slides along t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a robot end effector for picking the flat and cut stalk of a fruit, and an operation method. The robot end effector mainly comprises a semicircular bar-shaped swinging cutter and two 1/4 spherical surface fingers. When picking is carried out, the fruit enters space between the two 1/4 spherical surface fingers, the 1/4 spherical surface fingers quickly close, meanwhile, an annular air bag is expanded to upwards slide to a picking position to form reliable and flexible grasping for the fruit, and the opening slots of the 1/4 spherical surface fingers adapt to the azimuth deviation of the fruit stalk; the semicircular bar-shaped swinging cutter is level with the pedicel to finish fruit stalk cutting; and the annular air bag contracts to enable the fruit to fall into a fruit sending flexible pipe to finish recovery. Through an organic combination of the 1/4 spherical surface fingers, the semicircular bar-shaped swinging cutter and the movable annular air bag in a barrel, robot flat and cut stalk picking and recovering operation of the size and the pose adaption of the fruits on a tree can be realized, and the robot end effector has a simple and reliable structure.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a robot end effector and an operation method for picking fruits with flat stems. Background technique [0002] With the sharp reduction of the agricultural labor force, the robotic picking of fresh fruits has become a key topic at home and abroad, and various picking robot solutions for different fresh fruits are emerging. my country's fruit production is huge and the proportion of fresh food is huge, but currently harvesting is completely dependent on manual labor, and the labor cost for picking alone has reached 0.7-1.2 yuan / kg, so there is an urgent need to realize robot picking. [0003] According to the standard "NY-T716-2003 Technical Specifications for Citrus Picking" of the Ministry of Agriculture, during manual picking of citrus, the fruit stalk should be cut flat at the fruit pedicle, and the fruit should not be pulled by hand to prevent damage to the fruit pedicle. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): A01D46/30A01D91/04
CPCA01D46/30A01D91/04Y02P60/12
Inventor 刘继展阳开雨金玉成
Owner JIANGSU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap