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Fruit posture adjustable picking robot end effector and harvesting method

An end effector and picking robot technology, applied in the field of agricultural robots, can solve the problems of complex control process and slow picking speed, and achieve the effects of simple control process, fast adjustment speed and good adaptability

Active Publication Date: 2021-12-10
SHANDONG AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control process of this picking method is complicated, the picking speed is slow, and it has certain requirements for the volume, structure and operating space of the robotic arm.
[0004] Aiming at the problems of complex control process and slow picking speed of existing end effectors when faced with fruits with various growth postures, it is urgent to invent a kind of fruit posture adjustable picking robot end effector and harvesting method to simplify the control process, Improve recovery efficiency

Method used

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  • Fruit posture adjustable picking robot end effector and harvesting method
  • Fruit posture adjustable picking robot end effector and harvesting method
  • Fruit posture adjustable picking robot end effector and harvesting method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Example 1, such as Figure 1 to Figure 4 As shown, the fruit picking robot end effector with adjustable fruit posture includes a frame 5 and a pulley fixing mechanism. A pulley fixing mechanism is fixed at both ends of the frame 5, and two pulley fixing mechanisms are respectively fixed at both ends of the pulley fixing mechanism. A fruit clamping wheel 1 and two driving wheels 2, each fruit clamping wheel 1 and driving wheels 2 cover a clamping belt.

[0038] The pulley fixing mechanism includes two pulley floating plates 3 positioned on the upper and lower layers of the fruit clamping wheel 1 and the driving wheel 2, and the wheel shaft of the fruit clamping wheel 1 and the wheel shaft of the driving wheel 2 are fixed by two pulley floating plates 3 .

[0039] The axis of the fruit-clamping wheel 1 is fixed on the pulley floating plate 3 and can freely rotate around the axis.

[0040] The driving wheel 2 is responsible for driving the clamping belts, and the fruit c...

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Abstract

The invention discloses a fruit posture adjustable picking robot end effector and a harvesting method.The fruit posture adjustable picking robot end effector comprises a rack, a supporting plate, two belt wheel fixing mechanisms, a posture adjusting mechanism and a clamping adjusting mechanism, the belt wheel fixing mechanisms are installed between the rack and the supporting plate, the posture adjusting mechanism is fixed to the belt wheel fixing mechanisms, and the clamping adjusting mechanism is fixed to the supporting plate; the belt wheel fixing mechanisms are used for fixing belt wheels, the clamping adjusting mechanism is fixed to the bottom of the supporting plate, and the clamping adjusting mechanism is used for adjusting the distance between the two belt wheel fixing mechanisms. The fruit picking and transporting device has the advantages that fruits can be quickly picked and transported, the control process is simple, and the harvesting efficiency is high.

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 picking robot with adjustable fruit attitude, which realize picking and transporting of fruits. Background technique [0002] At present, with the rapid development of the fruit and vegetable planting industry, the planting area of ​​various fruit and vegetable varieties is increasing year by year. For some types of fruits and vegetables, there is no separation layer in the fruit stem, and the fruit stem needs to be cut off to complete the harvest. In the actual growth, there will be phenomena such as fruit aggregation, and the natural posture of the fruit is uncertain, which brings great difficulties to the picking of fruits and vegetables. [0003] The end effector of the existing picking robot mainly adjusts the posture of the end effector by controlling the movement of the mechanical arm, so as to adapt to the fruits with differen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30A01D91/04
CPCA01D46/30A01D91/04
Inventor 苑进刘雪美方家明
Owner SHANDONG AGRICULTURAL UNIVERSITY
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