End effector of apple picking robot

Abstract

The invention relates to an end effector of a fruit and vegetable picking robot. The end effector mainly consists of a clamping system, a cutting system and a sensor system. The clamping system mainly adopts a mechanism formed by cylinder sliding chutes to drive two fingers to open and close, thus realizing the action of grasping apples; the cutting system adopts a DC motor with 12V as the power source to drive blades to rotate nearly a circle around the fingers by the transmission of steel wires or the transmission of steel wire trolley wheels, thus cutting apple stems at any position along the circumferential direction of the fingers; the sensor system consists of an opto-electrical position switch, a pressure sensor, a micro-vision sensor, a touch sensor and a limit switch and plays a role of connecting motions and controlling the process during the process of clamping and cutting the apple stems. The end effector has a simple and reliable picking way, good commonality, low controldifficulty, low cost, which ensures an intelligentized picking, thus meeting the demands of a football-like fruit picking robot and being conducive to realizing the practical utilization and commercialization of fruit picking robots.

Description

technical field [0001] The invention relates to the development field of the end effector of an agricultural fruit and vegetable picking robot, in particular to the technical field of the end effector of an apple picking robot. Background technique [0002] The end effector is an important part of the agricultural fruit and vegetable picking robot. It is installed at the end of the manipulator. When picking, the end effector is moved to the corresponding fruit picking point by the mechanical arm, and then the end effector completes the picking. fruit task. The development of foreign agricultural robots is relatively rapid. The research and development of picking robots has gone through more than 20 years and has achieved many results. However, there is still a certain distance from practicality and commercialization, and one of the main reasons is that the development requirements for the end effector are relatively high. First, the degree of intelligence should be high to...

AI Technical Summary

Problems solved by technology

At present, there are mainly two ways to achieve picking. The first one is to use the rotation of the wrist joint in two vertical directions to simulate the human action of twisting the fruit handle. The object of the operation requires the fruit handle to be easily separated from the fruit branch, which limits the its versatility

The second is to use the suction cup to suck the fruit firmly, and then use scissors to cut off the fruit handle. This method needs to detect the position of the fruit handle and accurately adjust the posture of the end effector, which increases the difficulty and difficulty of system control. institutional complexity

However, its endurance is not very ideal

The quality and fatigue resistance should be considered again to achieve a more ideal effect. In addition, due to the use of digital linear stepping motors, the cost is relatively high, which greatly affects the practicality and commercialization

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