Picking robot end effector

Abstract

Provided is a picking robot end effector. The picking robot end effector comprises a fruit stem translation clamping assembly and a fruit stem oblique knife cutting assembly. The fruit stem translation clamping assembly comprises a translation finger cylinder, a left trapezoidal tooth finger, a right trapezoidal tooth finger, a stopping piece, an elastic black-out cloth, a biinjection optoelectronic switch, a visual sensor and a mechanical arm butt joint piece. The fruit stem oblique knife cutting assembly comprises a double-pole guide cylinder, a cutter mounting plate, a cutter pressing plate and a cutter. According to the picking robot end effector, the picking movement mode that pneumatic trapezoidal teeth clamp fruit stems and a pneumatic oblique knife extends out to cut off the fruit stems is mainly adopted; and meanwhile, camera image recognition and optoelectronic switch signals are combined to automatically match a robot to complete fruit picking operation, and the picking robot end effector has the advantages of being simple in structure, high in universality, low in component weight and free of pollution.

Description

technical field [0001] The invention belongs to the technical field of development of an end effector for automatic picking of agricultural fruits and vegetables, and in particular relates to an end effector of a picking robot. Background technique [0002] In recent years, agricultural fruit and vegetable picking robots have gradually become the focus of domestic and foreign research and development in the field of robotics. Many achievements have been made in related technologies at home and abroad, but most of them stay in the laboratory research and development stage, and there is still a long way to go before practical commercialization. big gap. One of the main reasons is that the requirements for the development of the end effector are relatively high. The main requirements include: 1. The mechanism scheme should be simple and compact, the weight should be light, avoid redundant transmission mechanisms, ensure the compactness and reliability of the overall structure, ...

AI Technical Summary

Problems solved by technology

The knife-cutting method mainly uses a motor to drive a circular saw or scissors to directly cut off the fruit stem. This method of transmission mechanism scheme and control sensor system is often complicated, which increases the difficulty of system control and the complexity of the mechanism. cost

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