The end effector of the fruit and vegetable picking robot

Abstract

The invention relates to an end effector for a fruit and vegetable picking robot. The end effector comprises a grabbing system, a cutting system, a sensing system, a shell and the like; the grabbing system grabs fruits into an inner cavity of the effector by utilizing five rubber rollers rotating at a high speed through high-speed rotation and huge friction force to realize a fruit grabbing action; the cutting system is that a lead screw drives a diamond-shaped frame to perform forward and backward telescopic movement, an electromagnetic mechanism and a saw blade are pushed to perform forward and backward telescopic movement, and a serrated blade is repeatedly driven at a high speed by using the electromagnetic mechanism to cut a branch; the sensing system consists of a pressure sensor, a miniature vision sensor and the like and plays roles in action connection and process control in the processes of the grabbing the fruits and cutting fruit stalks. The end effector provided by the invention has the benefits that with the adoption of novel grabbing, driving and cutting methods, simplicity and reliability are realized, the picking speed of an intelligent picking robot is greatly improved, and the control difficulty and the cost are low. The end effector can meet the demands of a ball-shaped picking robot and is beneficial to the improvement of the picking speed of the fruit picking robot and the practical use and the commercialization of the robot.

Description

technical field [0001] The invention relates to an end effector of a fruit and vegetable picking robot, which belongs to the technical field of machinery. Background technique [0002] Fruits of the citrus genus have a large yield per mu and require a lot of manpower to pick. At present, there is no method or agricultural machinery in the world that can effectively solve this problem. There are two types of end effectors, one is to use the rotation of the wrist joint in two vertical directions to simulate the action of twisting the fruit handle, and the other is to use the rotating blade to cut the fruit after the two hemispherical clamp covers pick it up . The two actuators have the disadvantages of being unable to pick continuously, easily damaging the surface of the fruit, which is not conducive to storage and low grasping accuracy, and neither of the two methods can realize the continuous picking of the fruit, and cannot cope with the citrus with high growth density. F...

AI Technical Summary

Problems solved by technology

The two actuators have the disadvantages of being unable to pick continuously, easily damaging the surface of the fruit, which is not conducive to storage and low grasping accuracy, and neither of the two methods can realize the continuous picking of the fruit, and cannot cope with the citrus with high growth density. fruit picking

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