End effector of flexible picking mechanical hand for tomatoes
A technology of end effectors and manipulators, applied in the direction of manipulators, agricultural machinery and implements, harvesters, etc., can solve the problems of low tomato picking efficiency, low degree of mechanization, and low picking efficiency, and achieve convenient and quick adjustment of working speed, lifting clips The effect of sustained speed and long service life
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[0029] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and the protection scope of the present invention is not limited to the following specific embodiments. .
[0030] The end effector of a tomato flexible picking manipulator designed by the present invention uses a multi-joint manipulator to obtain and sense the working environment and tomato information in real time through multi-sensor information fusion, so as to ensure that the fruit is aligned and adsorbed without damaging the tomato. , Suction clamping and swing breaking working process, the invention adopts the suction and pull fruit synchronous clamping, the silicone piano key adapts to the outer contour of the tomato, and then swings and breaks the picking method of the fruit stem, which solves the techno...
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