End effector of clamp-shear integrated pick robot

Abstract

The invention discloses an end effector of a clamp-shear integrated pick robot, relating to the field of agricultural robots. The end effector is composed of a single-motor transmission system and a clamp-shear integrated finger tip structure. A motor drives a bidirectional screw rod to rotate under the transmission effect of a bevel gear, so that two oscillating bars are driven to swing through a left-handed nut, a right-handed nut and two sliding sleeves, and thus, a left cutting edge and a left clamping face as well as a right cutting edge and a right clamping face are closed. When the left clamping face and the right clamping face come into contact with a fruit stem, two springs are compressed so that the left clamping face translate backwards in a manner relative to the left cutting edge, and while the left clamping face and the right clamping face tightly clamp the fruit stem, the left cutting edge and the right cutting edge are continuously closed to cut the fruit stem. Under the drive of the single motor only, the integrated operation of clamping and cutting off the fruit stem is realized to guarantee the harvesting and recovering of fruits, and the end effector is simple in structure and small in size and is good for greatly reducing control difficulty and enhancing practicability.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to an end effector of a clip-shear integrated picking robot. Background technique [0002] Existing fruit picking robot end effectors mainly include three categories: direct cutting type, fruit gripping type, and fruit stem gripping type. The direct cutting type end effector only has a cutting action. By directly cutting off the fruit stem, the fruit can be directly dropped to the ground or collected and stored through a hose (Shinsuke Kitamura, Koichi Oka. Recognition and Cutting System of Sweet Pepper for Picking Robot in Greenhouse Horticulture. Proceedings of the IEEE International Conference on Mechatronics & Automation, 2005:1807-1812.); The fruit clamping end effector reliably clamps the fruit with fingers, and then completes the separation of fruit and stem by cutting (M. Monta, N. Kondo, K.C. Ting. End-Effectors for Tomato Harvesting Robot. Artificial Intelligence Re...

AI Technical Summary

Problems solved by technology

The direct cutting type end effector only has a cutting action. By directly cutting off the fruit stem, the fruit can be directly dropped to the ground or collected and stored through a hose (Shinsuke Kitamura, Koichi Oka. Recognition and Cutting System of Sweet Pepper for Picking Robot in Greenhouse Horticulture. Proceedings of the IEEE International Conference on Mechatronics & Automation, 2005:1807-1812.); The fruit clamping end effector reliably clamps the fruit with fingers, and then completes the separation of fruit and stem by cutting (M. Monta, N. Kondo, K.C. Ting. End-Effectors for Tomato Harvesting Robot. Artificial Intelligence Review, 1998, 12: 11-25; Michael W. Hannan, Thomas F. Burks. Current Developments in Automated Citrus Harvesting. ASAE / CSAE Annual International Meeting, 2004: 1-10. ); the fruit stem clamping end effector realizes picking by clamping and cutting off the fruit stem (D. M. Bulanon, T. Kataoka. Fruit Detection System and an End Effector for Robotic Harvesting of Fuji Apples. Agric Eng Int: CIGR Journal, 12(1): 203-210; Seiichi Arima, Naoshi Kondo, Hiroshi Nakamura. Development of Robotic System for Cucumber Harvesting. JARQ, 1996,30:233-238. ); The structure of the direct cut-off end effector is simple, but the damage to the fruit is serious, and the hose is limited by the limited space in the canopy of the plant, and in most cases, the posture of the end effector cannot ensure that the hose mouth is directly below the fruit. , resulting in the failure of fruit harvesting; the fruit clamping end effector is reliable in clamping, and the fruit posture is stable, which is beneficial to the subsequent fruit and stem separation operations and fruit harvesting. However, the flexible clamping to ensure fruit damage must be based on force, sliding and other sensory feedback and servo control. The equipment cost is high and the reliability is poor, and the control is too difficult; the fruit stem clamping end effector effectively avoids clamping The damage to the fruit has outstanding advantages for the fruit type and maturity period with better fruit and stem connection force, but the currently developed fruit stem clamping end effector is independently powered to realize the clamping and cutting of the fruit stem , the structure and control of the end effector are still complicated, and the operating efficiency and success rate are limited

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