Clamping-controllable fruit lossless picking end effector and control method thereof

Abstract

The invention discloses a clamping-controllable fruit lossless picking end effector and a control method thereof, the clamping-controllable fruit lossless picking end effector comprises a sliding positioning seat, an interval adjusting assembly is mounted on the inner side of the sliding positioning seat, and a dynamic clamping assembly is additionally arranged on the interval adjusting assembly. By means of coordination and cooperation of all the assemblies and adjustment of the distance between the sliding rack component and the fixed rack component, dynamic adjustment can be effectively conducted on fruits of different sizes, the clamping force of subsequent fruits can be conveniently adjusted, and under cooperation of the dynamic clamping assembly, after the fruits are adjusted to reach the proper clamping force, the fruits can be conveniently clamped, and then the fruits can be conveniently clamped. According to the fruit clamping device, the distance measuring sensor works to measure the deformation quantity of the detection spring and transmits data to the PLC, the clamping force of fruits can be measured, meanwhile, the device has the effects of being adjustable in clamping force and adjustable in clamping range, in the specific use process, clamping of various fruits can be met, and the working efficiency is improved. Meanwhile, the clamping force of different fruits can be accurately adjusted and controlled, and nondestructive picking can be met.

Description

technical field [0001] The invention relates to the technical field related to fruit picking, in particular to a gripping controllable fruit non-destructive picking end effector and a control method thereof. Background technique [0002] my country is a big country in fruit planting and production, with large fruit output and many varieties. At the same time, due to the complexity of the picking environment, manual picking is currently the main method. In recent years, with the development of picking robots, fruit picking technology has been improved to a certain extent. However, due to the limitation of fruit varieties, different fruits have different sizes and different force conditions. The difficulty has affected the further development of fruit picking technology. [0003] The current picking actuators cannot measure the clamping force, so it is very easy to cause fruit damage due to excessive clamping force, and low picking success rate due to small clamping force. ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a clamping controllable fruit non-destructive picking end effector and its control method to solve the problem that the existing picking actuators are prone to fruit damage due to excessive clamping force and small clamping force. The low picking success rate increases the overall difficulty of picking

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