End effector for simultaneous picking of multiple strawberries and corresponding picking mechanism and method

Abstract

The invention provides an end effector for simultaneously picking multiple strawberries and a corresponding picking mechanism and method and relates to the field of agriculture picking robots. The endeffector is composed of a manipulator end effector body, a mechanical arm, a mechanical arm mobile platform, a strawberry containing box and a control box. The manipulator end effector body is composed of a fruit gathering plate, side vertical plates, a cutting mechanism, a vision unit, an air cylinder, air inlets, a connection flange plate, a temporary storage bag and a storage battery. The fruit gathering plate comprises a rubber pyramid, fruit handle protrusions, an electromagnet and an electromagnet switch, and the cutting mechanism comprises a sliding rail, a trigger, a fruit handle groove, cutting blade mechanism sliding grooves and a cutting blade mechanism. According to the end effector for simultaneously picking multiple strawberries, the manipulator end effector body is small and ingenious in size and flexible, and the defects of low manual strawberry picking efficiency and low mechanical degree in the prior art are overcome. The mechanical structure is small and ingenious in size, the efficiency of simultaneously picking multiple strawberries is high, and the technical difficult problems are solved that strawberries are easy to damage in picking and the picking efficiency of a single strawberry is low.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an end effector for simultaneous picking of multiple strawberries and a corresponding picking mechanism and method. Background technique [0002] my country's strawberry planting area is vast, ranking first in the world. Strawberries are delicious, nutritious, loved by people, and have high economic value. At present, the harvest of strawberries depends entirely on manual picking. In my country, the manual harvesting of strawberries has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in my country, the shortage of rural labor is becoming more and more obvious. Research and promote strawberry automation. Harvesting technology has become an urgent problem to be solved at this stage. [0003] In the current research on strawberry picking robots, the strawberry picking method is mainly to detect ripe fr...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the above-mentioned prior art, the present invention provides an end effector for simultaneous picking of multiple strawberries and a corresponding picking mechanism and method, which overcomes the defects of low efficiency and low degree of mechanization in the existing strawberry manual picking. High precision and high efficiency of picking multiple strawberries at the same time, which solves the technical problems of easily damaged strawberries and low picking efficiency of a single strawberry

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